2021-05-18T14:57:47.289Z,1621349867.289 [Supervisor](DEBUG): Initializing supervisor.
2021-05-18T14:57:47.294Z,1621349867.294 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-05-18T14:57:47.294Z,1621349867.294 [SyncHandler](INFO): Protected caller Thread ID is 5308
2021-05-18T14:57:47.295Z,1621349867.295 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-05-18T14:57:47.296Z,1621349867.296 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-05-18T14:57:47.296Z,1621349867.296 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 5309
2021-05-18T14:57:47.300Z,1621349867.300 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-05-18T14:57:47.318Z,1621349867.318 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-05-18T14:57:47.319Z,1621349867.319 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-05-18T14:57:47.319Z,1621349867.319 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 5310
2021-05-18T14:57:47.321Z,1621349867.321 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-05-18T14:57:47.322Z,1621349867.322 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-05-18T14:57:47.323Z,1621349867.323 [logger ThreadHandler](INFO): Protected caller Thread ID is 5311
2021-05-18T14:57:47.327Z,1621349867.327 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-05-18T14:57:47.327Z,1621349867.327 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-05-18T14:57:47.329Z,1621349867.329 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-05-18T14:57:47.562Z,1621349867.562 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-05-18T14:57:47.563Z,1621349867.563 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-05-18T14:57:47.643Z,1621349867.643 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-05-18T14:57:48.141Z,1621349868.141 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-05-18T14:57:48.142Z,1621349868.142 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-05-18T14:57:48.472Z,1621349868.472 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-05-18T14:57:48.472Z,1621349868.472 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-05-18T14:57:48.567Z,1621349868.567 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-05-18T14:57:48.568Z,1621349868.568 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-05-18T14:57:48.929Z,1621349868.929 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-05-18T14:57:48.929Z,1621349868.929 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-05-18T14:57:49.126Z,1621349869.126 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-05-18T14:57:49.127Z,1621349869.127 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-05-18T14:57:49.562Z,1621349869.562 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-05-18T14:57:49.563Z,1621349869.563 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-05-18T14:57:49.687Z,1621349869.687 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-05-18T14:57:49.688Z,1621349869.688 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-05-18T14:57:49.766Z,1621349869.766 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-05-18T14:57:50.450Z,1621349870.450 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-05-18T14:57:50.451Z,1621349870.451 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-05-18T14:57:50.843Z,1621349870.843 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-05-18T14:57:50.844Z,1621349870.844 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-05-18T14:57:51.073Z,1621349871.073 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-05-18T14:57:51.074Z,1621349871.074 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-05-18T14:57:51.177Z,1621349871.177 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-05-18T14:57:51.178Z,1621349871.178 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-05-18T14:57:51.326Z,1621349871.326 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-05-18T14:57:51.327Z,1621349871.327 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-05-18T14:57:51.550Z,1621349871.550 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-05-18T14:57:51.552Z,1621349871.552 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2021-05-18T14:57:51.552Z,1621349871.552 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2021-05-18T14:57:51.643Z,1621349871.643 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2021-05-18T14:57:51.727Z,1621349871.727 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2021-05-18T14:57:51.828Z,1621349871.828 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2021-05-18T14:57:51.910Z,1621349871.910 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2021-05-18T14:57:52.005Z,1621349872.005 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2021-05-18T14:57:52.107Z,1621349872.107 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2021-05-18T14:57:52.341Z,1621349872.341 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2021-05-18T14:57:52.507Z,1621349872.507 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2021-05-18T14:57:52.926Z,1621349872.926 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2021-05-18T14:57:53.236Z,1621349873.236 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2021-05-18T14:57:53.381Z,1621349873.381 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Battery.cfg
2021-05-18T14:57:53.750Z,1621349873.750 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-05-18T14:57:53.752Z,1621349873.752 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/root/
2021-05-18T14:57:53.752Z,1621349873.752 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-05-18T14:57:53.758Z,1621349873.758 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-05-18T14:57:53.810Z,1621349873.810 [VerticalControl](DEBUG): Construct VerticalControl.
2021-05-18T14:57:53.870Z,1621349873.870 [VerticalControl] Loaded
2021-05-18T14:57:53.870Z,1621349873.870 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-05-18T14:57:53.873Z,1621349873.873 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-05-18T14:57:53.910Z,1621349873.910 [HorizontalControl] Loaded
2021-05-18T14:57:53.910Z,1621349873.910 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-05-18T14:57:53.913Z,1621349873.913 [SpeedControl](DEBUG): Construct SpeedControl.
2021-05-18T14:57:53.916Z,1621349873.916 [SpeedControl] Loaded
2021-05-18T14:57:53.916Z,1621349873.916 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-05-18T14:57:53.918Z,1621349873.918 [LoopControl](DEBUG): Construct LoopControl.
2021-05-18T14:57:53.919Z,1621349873.919 [LoopControl] Loaded
2021-05-18T14:57:53.919Z,1621349873.919 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-05-18T14:57:53.919Z,1621349873.919 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-05-18T14:57:53.920Z,1621349873.920 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-05-18T14:57:53.931Z,1621349873.931 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-05-18T14:57:53.931Z,1621349873.931 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-05-18T14:57:54.030Z,1621349874.030 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-05-18T14:57:54.031Z,1621349874.031 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-05-18T14:57:54.139Z,1621349874.139 [BuoyancyServo] Loaded
2021-05-18T14:57:54.139Z,1621349874.139 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-05-18T14:57:54.157Z,1621349874.157 [ElevatorServo] Loaded
2021-05-18T14:57:54.158Z,1621349874.158 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-05-18T14:57:54.175Z,1621349874.175 [MassServo] Loaded
2021-05-18T14:57:54.175Z,1621349874.175 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-05-18T14:57:54.193Z,1621349874.193 [RudderServo] Loaded
2021-05-18T14:57:54.193Z,1621349874.193 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-05-18T14:57:54.210Z,1621349874.210 [ThrusterServo] Loaded
2021-05-18T14:57:54.211Z,1621349874.211 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-05-18T14:57:54.211Z,1621349874.211 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-05-18T14:57:54.212Z,1621349874.212 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-05-18T14:57:54.289Z,1621349874.289 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-05-18T14:57:54.289Z,1621349874.289 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-05-18T14:57:54.301Z,1621349874.301 [NavChart] Loaded
2021-05-18T14:57:54.302Z,1621349874.302 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-05-18T14:57:54.307Z,1621349874.307 [UniversalFixResidualReporter] Loaded
2021-05-18T14:57:54.307Z,1621349874.307 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-05-18T14:57:54.308Z,1621349874.308 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-05-18T14:57:54.308Z,1621349874.308 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-05-18T14:57:54.362Z,1621349874.362 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-05-18T14:57:54.363Z,1621349874.363 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-05-18T14:57:54.714Z,1621349874.714 [AHRS_M2] Loaded
2021-05-18T14:57:54.714Z,1621349874.714 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-05-18T14:57:55.485Z,1621349875.485 [BPC1] Loaded
2021-05-18T14:57:55.485Z,1621349875.485 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-05-18T14:57:55.558Z,1621349875.558 [DataOverHttps] Loaded
2021-05-18T14:57:55.558Z,1621349875.558 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-05-18T14:57:55.559Z,1621349875.559 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4087D4E0
2021-05-18T14:57:55.560Z,1621349875.560 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 5397
2021-05-18T14:57:55.578Z,1621349875.578 [Depth_Keller] Loaded
2021-05-18T14:57:55.579Z,1621349875.579 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-05-18T14:57:55.635Z,1621349875.635 [NAL9602] Loaded
2021-05-18T14:57:55.636Z,1621349875.636 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-05-18T14:57:55.664Z,1621349875.664 [Onboard] Loaded
2021-05-18T14:57:55.664Z,1621349875.664 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-05-18T14:57:55.665Z,1621349875.665 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408AD4E0
2021-05-18T14:57:55.665Z,1621349875.665 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 5398
2021-05-18T14:57:55.677Z,1621349875.677 [Power24vConverter] Loaded
2021-05-18T14:57:55.677Z,1621349875.677 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2021-05-18T14:57:55.690Z,1621349875.690 [Radio_Surface] Loaded
2021-05-18T14:57:55.690Z,1621349875.690 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-05-18T14:57:55.691Z,1621349875.691 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408DD4E0
2021-05-18T14:57:55.691Z,1621349875.691 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 5399
2021-05-18T14:57:55.712Z,1621349875.712 [AMEcho] Loaded
2021-05-18T14:57:55.712Z,1621349875.712 [ComponentRegistry](DEBUG): SyncComponent "AMEcho" handled in the control thread.
2021-05-18T14:57:55.790Z,1621349875.790 [DAT] Loaded
2021-05-18T14:57:55.790Z,1621349875.790 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2021-05-18T14:57:55.790Z,1621349875.790 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-05-18T14:57:55.791Z,1621349875.791 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-05-18T14:57:55.832Z,1621349875.832 [DepthRateCalculator] Loaded
2021-05-18T14:57:55.832Z,1621349875.832 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-05-18T14:57:55.836Z,1621349875.836 [PitchRateCalculator] Loaded
2021-05-18T14:57:55.837Z,1621349875.837 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-05-18T14:57:55.845Z,1621349875.845 [SpeedCalculator] Loaded
2021-05-18T14:57:55.846Z,1621349875.846 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-05-18T14:57:55.859Z,1621349875.859 [TempGradientCalculator] Loaded
2021-05-18T14:57:55.859Z,1621349875.859 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-05-18T14:57:55.864Z,1621349875.864 [YawRateCalculator] Loaded
2021-05-18T14:57:55.864Z,1621349875.864 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-05-18T14:57:55.881Z,1621349875.881 [ElevatorOffsetCalculator] Loaded
2021-05-18T14:57:55.881Z,1621349875.881 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-05-18T14:57:55.881Z,1621349875.881 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-05-18T14:57:55.882Z,1621349875.882 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-05-18T14:57:56.049Z,1621349876.049 [CTD_Seabird] Loaded
2021-05-18T14:57:56.049Z,1621349876.049 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-05-18T14:57:56.050Z,1621349876.050 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409904E0
2021-05-18T14:57:56.051Z,1621349876.051 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 5400
2021-05-18T14:57:56.070Z,1621349876.070 [PAR_Licor] Loaded
2021-05-18T14:57:56.070Z,1621349876.070 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2021-05-18T14:57:56.101Z,1621349876.101 [WetLabsBB2FL] Loaded
2021-05-18T14:57:56.101Z,1621349876.101 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2021-05-18T14:57:56.102Z,1621349876.102 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 409C04E0
2021-05-18T14:57:56.102Z,1621349876.102 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 5401
2021-05-18T14:57:56.103Z,1621349876.103 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-05-18T14:57:56.104Z,1621349876.104 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-05-18T14:57:56.131Z,1621349876.131 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-05-18T14:57:56.132Z,1621349876.132 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-05-18T14:57:56.438Z,1621349876.438 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-05-18T14:57:56.439Z,1621349876.439 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-05-18T14:57:56.581Z,1621349876.581 [SBIT](DEBUG): Construct Startup Built In Test.
2021-05-18T14:57:56.590Z,1621349876.590 [SBIT] Loaded
2021-05-18T14:57:56.590Z,1621349876.590 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-05-18T14:57:56.593Z,1621349876.593 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-05-18T14:57:56.605Z,1621349876.605 [IBIT] Loaded
2021-05-18T14:57:56.606Z,1621349876.606 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-05-18T14:57:56.611Z,1621349876.611 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-05-18T14:57:56.709Z,1621349876.709 [CBIT] Loaded
2021-05-18T14:57:56.710Z,1621349876.710 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-05-18T14:57:56.710Z,1621349876.710 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-05-18T14:57:56.710Z,1621349876.710 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-05-18T14:57:56.797Z,1621349876.797 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-05-18T14:57:56.803Z,1621349876.803 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-05-18T14:57:56.805Z,1621349876.805 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-05-18T14:57:56.816Z,1621349876.816 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-05-18T14:57:56.817Z,1621349876.817 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AF14E0
2021-05-18T14:57:56.817Z,1621349876.817 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 5402
2021-05-18T14:57:56.822Z,1621349876.822 [Supervisor](INFO): Main Thread ID is 5307
2021-05-18T14:57:56.822Z,1621349876.822 [Supervisor](DEBUG): Running supervisor.
2021-05-18T14:57:56.822Z,1621349876.822 [CommandLine ThreadHandler](INFO): Handler Thread ID is 5403
2021-05-18T14:57:56.836Z,1621349876.836 [CommandLine](IMPORTANT): got command strobe off
2021-05-18T14:57:56.836Z,1621349876.836 [CommandLine](IMPORTANT): Deactivating strobe
2021-05-18T14:57:56.840Z,1621349876.840 [controlThread ThreadHandler](INFO): Handler Thread ID is 5404
2021-05-18T14:57:56.841Z,1621349876.841 [controlThread](DEBUG): Initializing ControlThread
2021-05-18T14:57:56.842Z,1621349876.842 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-05-18T14:57:56.843Z,1621349876.843 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-05-18T14:57:56.844Z,1621349876.844 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-05-18T14:57:56.845Z,1621349876.845 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-05-18T14:57:56.846Z,1621349876.846 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-05-18T14:57:56.847Z,1621349876.847 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-05-18T14:57:56.852Z,1621349876.852 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-05-18T14:57:56.852Z,1621349876.852 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-05-18T14:57:56.853Z,1621349876.853 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-05-18T14:57:56.853Z,1621349876.853 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-05-18T14:57:56.854Z,1621349876.854 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-05-18T14:57:56.854Z,1621349876.854 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-05-18T14:57:56.859Z,1621349876.859 [SBIT](INFO): Initialize SBIT Component.
2021-05-18T14:57:56.860Z,1621349876.860 [SBIT](IMPORTANT): git: 2021-05-10
2021-05-18T14:57:56.860Z,1621349876.860 [SBIT](INFO): git hash: 03112e3e75aba085c15f5826cf8e252bb5a4e5aa
2021-05-18T14:57:56.860Z,1621349876.860 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-05-18T14:57:56.861Z,1621349876.861 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Nov 13 12:38:10 PST 2019
2021-05-18T14:57:56.862Z,1621349876.862 [SBIT](INFO): Beginning SBIT in 57.000000 seconds.
2021-05-18T14:57:56.863Z,1621349876.863 [IBIT](INFO): Initialize IBIT Component.
2021-05-18T14:57:56.864Z,1621349876.864 [CBIT](DEBUG): Initialize CBIT Component.
2021-05-18T14:57:56.865Z,1621349876.865 [logger ThreadHandler](INFO): Handler Thread ID is 5405
2021-05-18T14:57:56.875Z,1621349876.875 [CBIT](DEBUG): Initialized mux pins.
2021-05-18T14:57:56.875Z,1621349876.875 [CBIT](DEBUG): Initializing the watchdog timer.
2021-05-18T14:57:56.883Z,1621349876.883 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 5406
2021-05-18T14:57:56.885Z,1621349876.885 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2021-05-18T14:57:56.895Z,1621349876.895 [Onboard ThreadHandler](INFO): Handler Thread ID is 5407
2021-05-18T14:57:56.900Z,1621349876.900 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-05-18T14:57:56.900Z,1621349876.900 [CBIT](DEBUG): Initializing heartbeat.
2021-05-18T14:57:56.916Z,1621349876.916 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 5408
2021-05-18T14:57:56.931Z,1621349876.931 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 5409
2021-05-18T14:57:56.932Z,1621349876.932 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-05-18T14:57:56.937Z,1621349876.937 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 5411
2021-05-18T14:57:56.940Z,1621349876.940 [WetLabsBB2FL](INFO): Powering up
2021-05-18T14:57:56.941Z,1621349876.941 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 5413
2021-05-18T14:57:56.944Z,1621349876.944 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-05-18T14:57:56.944Z,1621349876.944 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-05-18T14:57:56.944Z,1621349876.944 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-05-18T14:57:56.945Z,1621349876.945 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-05-18T14:57:56.945Z,1621349876.945 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-05-18T14:57:56.945Z,1621349876.945 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-05-18T14:57:56.945Z,1621349876.945 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-05-18T14:57:56.945Z,1621349876.945 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-05-18T14:57:56.945Z,1621349876.945 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-05-18T14:57:56.946Z,1621349876.946 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-05-18T14:57:56.946Z,1621349876.946 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-05-18T14:57:56.946Z,1621349876.946 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-05-18T14:57:56.946Z,1621349876.946 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-05-18T14:57:56.946Z,1621349876.946 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-05-18T14:57:56.946Z,1621349876.946 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-05-18T14:57:56.947Z,1621349876.947 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-05-18T14:57:56.971Z,1621349876.971 [CBIT](DEBUG): Deactivating GF circuits.
2021-05-18T14:57:56.971Z,1621349876.971 [CBIT](DEBUG): Deactivating emergency mode.
2021-05-18T14:57:57.007Z,1621349877.007 [CBIT](DEBUG): Backplane powered.
2021-05-18T14:57:57.008Z,1621349877.008 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-05-18T14:57:57.021Z,1621349877.021 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-05-18T14:57:57.049Z,1621349877.049 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2021-05-18T14:57:57.049Z,1621349877.049 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2021-05-18T14:57:57.120Z,1621349877.120 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2021-05-18T14:57:57.121Z,1621349877.121 [Default:A.Wait](DEBUG): Construct Wait.
2021-05-18T14:57:57.147Z,1621349877.147 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-05-18T14:57:57.174Z,1621349877.174 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-05-18T14:57:57.177Z,1621349877.177 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-05-18T14:57:57.198Z,1621349877.198 [Default:E.Execute](DEBUG): Construct Execute.
2021-05-18T14:57:57.202Z,1621349877.202 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>13</Value></Setting>
    </Guidance:Wait>

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn on</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
        </Guidance:Wait>

        <Assign><Sequence/><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

        <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceDefaultStarted"/><Units:minute/></Syslog>

    </Aggregate>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

    <Guidance:Execute>
        <Sequence/>
        <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>


2021-05-18T14:57:57.211Z,1621349877.211 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,NAL9602,Power24vConverter,AMEcho,DAT,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2021-05-18T14:57:57.223Z,1621349877.223 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-05-18T14:57:57.305Z,1621349877.305 [Depth_Keller](ERROR): Pressure reading out of range: 1831.023193 decibar
2021-05-18T14:57:57.305Z,1621349877.305 [Power24vConverter](INFO): Powering down.
2021-05-18T14:57:57.306Z,1621349877.306 [AMEcho](INFO): Powering up.
2021-05-18T14:57:57.319Z,1621349877.319 [DAT](INFO): Powering up
2021-05-18T14:57:57.319Z,1621349877.319 [DAT](DEBUG): Initializing DAT.
2021-05-18T14:57:57.323Z,1621349877.323 [Radio_Surface](INFO): Powering up
2021-05-18T14:57:57.466Z,1621349877.466 [DepthRateCalculator](ERROR): Depth measurement is not active
2021-05-18T14:57:57.559Z,1621349877.559 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-05-18T14:57:57.567Z,1621349877.567 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-05-18T14:57:57.568Z,1621349877.568 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-05-18T14:57:57.575Z,1621349877.575 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-05-18T14:57:57.576Z,1621349877.576 [MassServo](DEBUG): Initializing EZServoServo.
2021-05-18T14:57:57.583Z,1621349877.583 [MassServo](DEBUG): Initializing MassServo.
2021-05-18T14:57:57.584Z,1621349877.584 [RudderServo](DEBUG): Initializing EZServoServo.
2021-05-18T14:57:57.591Z,1621349877.591 [RudderServo](DEBUG): Initializing RudderServo.
2021-05-18T14:57:57.592Z,1621349877.592 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-05-18T14:57:57.600Z,1621349877.600 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-05-18T14:57:57.895Z,1621349877.895 [AMEcho](INFO): Powering down.
2021-05-18T14:57:58.028Z,1621349878.028 [Power24vConverter](INFO): Powering up.
2021-05-18T14:57:58.437Z,1621349878.437 [AMEcho](IMPORTANT): Setting 'depthThreshold' to 20.000000
2021-05-18T14:57:59.047Z,1621349879.047 [WetLabsBB2FL](INFO): Powering down
2021-05-18T14:58:08.941Z,1621349888.941 [DAT](INFO): DAT read: 

2021-05-18T14:58:08.943Z,1621349888.943 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2021-05-18T14:58:10.333Z,1621349890.333 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004749
2021-05-18T14:58:10.554Z,1621349890.554 [DAT](INFO): DAT read: MF Frequency Band

2021-05-18T14:58:10.555Z,1621349890.555 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.14.2

2021-05-18T14:58:10.556Z,1621349890.556 [DAT](INFO): DAT read: May 18 2021 14:57:40 

2021-05-18T14:58:11.361Z,1621349891.361 [DAT](INFO): DAT read: Features enabled [Bearing]

2021-05-18T14:58:11.363Z,1621349891.363 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2021-05-18T14:58:11.363Z,1621349891.363 [DAT](INFO): commRate: 800
2021-05-18T14:58:13.381Z,1621349893.381 [DAT](INFO): entering command mode
2021-05-18T14:58:13.785Z,1621349893.785 [DAT](INFO): DAT read: 

2021-05-18T14:58:13.785Z,1621349893.785 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:13.800Z,1621349893.800 [CommandLine](IMPORTANT): got command strobe off
2021-05-18T14:58:13.800Z,1621349893.800 [CommandLine](IMPORTANT): Deactivating strobe
2021-05-18T14:58:14.189Z,1621349894.189 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:14.593Z,1621349894.593 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:14.997Z,1621349894.997 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:15.401Z,1621349895.401 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:15.805Z,1621349895.805 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:16.209Z,1621349896.209 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:16.613Z,1621349896.613 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:17.017Z,1621349897.017 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:17.421Z,1621349897.421 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:17.825Z,1621349897.825 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:18.229Z,1621349898.229 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:18.633Z,1621349898.633 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:19.037Z,1621349899.037 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:19.441Z,1621349899.441 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:19.845Z,1621349899.845 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:20.249Z,1621349900.249 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:20.657Z,1621349900.657 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:21.057Z,1621349901.057 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:21.461Z,1621349901.461 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:21.865Z,1621349901.865 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:22.275Z,1621349902.275 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:22.673Z,1621349902.673 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:23.077Z,1621349903.077 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:23.481Z,1621349903.481 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:23.889Z,1621349903.889 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:24.289Z,1621349904.289 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:24.693Z,1621349904.693 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:25.097Z,1621349905.097 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:25.501Z,1621349905.501 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:25.904Z,1621349905.904 [NAL9602](INFO): Powering up NAL9602
2021-05-18T14:58:25.906Z,1621349905.906 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:26.309Z,1621349906.309 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:26.713Z,1621349906.713 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:27.121Z,1621349907.121 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:27.527Z,1621349907.527 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:27.925Z,1621349907.925 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:28.328Z,1621349908.328 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:28.733Z,1621349908.733 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T14:58:28.733Z,1621349908.733 [DAT](FAULT): failed to enter command mode
2021-05-18T14:58:29.145Z,1621349909.145 [DAT](INFO): entering command mode
2021-05-18T14:58:29.541Z,1621349909.541 [DAT](INFO): DAT read: user:1>

2021-05-18T14:58:29.542Z,1621349909.542 [DAT](INFO): DAT read: Command '+++' not found

2021-05-18T14:58:29.543Z,1621349909.543 [DAT](INFO): DAT read: Error

2021-05-18T14:58:29.543Z,1621349909.543 [DAT](INFO): setting verbose to 3
2021-05-18T14:58:29.945Z,1621349909.945 [DAT](INFO): DAT read: user:2>

2021-05-18T14:58:29.946Z,1621349909.946 [DAT](INFO): DAT read: Verbose         | 3           

2021-05-18T14:58:29.947Z,1621349909.947 [DAT](INFO): set verbose to 3
2021-05-18T14:58:29.947Z,1621349909.947 [DAT](INFO): setting DatVerbose to 27440
2021-05-18T14:58:30.349Z,1621349910.349 [DAT](INFO): DAT read: user:3>

2021-05-18T14:58:30.350Z,1621349910.350 [DAT](INFO): DAT read: DatVerbose      | 27440       

2021-05-18T14:58:30.350Z,1621349910.350 [DAT](INFO): set DatVerbose to 27440
2021-05-18T14:58:30.351Z,1621349910.351 [DAT](INFO): setting transmit power to 8
2021-05-18T14:58:30.753Z,1621349910.753 [DAT](INFO): DAT read: user:4>

2021-05-18T14:58:30.754Z,1621349910.754 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2021-05-18T14:58:30.754Z,1621349910.754 [DAT](INFO): set transmit power to 8
2021-05-18T14:58:30.755Z,1621349910.755 [DAT](INFO): setting local address to 7
2021-05-18T14:58:31.165Z,1621349911.165 [DAT](INFO): DAT read: user:5>

2021-05-18T14:58:31.166Z,1621349911.166 [DAT](INFO): DAT read: LocalAddr       | 7           

2021-05-18T14:58:31.167Z,1621349911.167 [DAT](INFO): set local address to 7
2021-05-18T14:58:36.812Z,1621349916.812 [NAL9602](INFO): NAL9602 initialized
2021-05-18T14:58:38.056Z,1621349918.056 [CommandLine](IMPORTANT): got command failComponent
2021-05-18T14:58:38.056Z,1621349918.056 [CommandLine](IMPORTANT): Failed components:
2021-05-18T14:58:38.056Z,1621349918.056 [CommandLine](IMPORTANT): No failed Components.
2021-05-18T14:58:54.620Z,1621349934.620 [SBIT](IMPORTANT): Beginning Startup BIT
2021-05-18T14:58:54.624Z,1621349934.624 [CBIT](IMPORTANT): Beginning ground fault scan
2021-05-18T14:59:05.526Z,1621349945.526 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.017002
CHAN A1 (24V): 0.000522
CHAN A2 (12V): 4.697929
CHAN A3 (5V): -0.001497
CHAN B0 (3.3V): 4.766929
CHAN B1 (3.15aV): -0.000164
CHAN B2 (3.15bV): 0.000373
CHAN B3 (GND): -0.000244
OPEN: -0.000191
Full Scale Calc: 4.765 mA, -1.589 mA
2021-05-18T14:59:48.762Z,1621349988.762 [SBIT](IMPORTANT): SBIT PASSED
2021-05-18T14:59:48.762Z,1621349988.762 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-05-18T14:59:48.763Z,1621349988.763 [SBIT](IMPORTANT): DAT.verbosity=3 count;

2021-05-18T14:59:48.763Z,1621349988.763 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2021-05-18T14:59:48.764Z,1621349988.764 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=282 cubic_centimeter;

2021-05-18T14:59:48.764Z,1621349988.764 [SBIT](IMPORTANT): VerticalControl.massDefault=9.25 millimeter;

2021-05-18T14:59:49.171Z,1621349989.171 [MissionManager](IMPORTANT): Started mission Startup
2021-05-18T14:59:49.171Z,1621349989.171 [Startup] Running Loop=1
2021-05-18T14:59:49.171Z,1621349989.171 [Startup](DEBUG): Aggregate::initialize Startup
2021-05-18T14:59:49.171Z,1621349989.171 [Startup:A.GoToSurface] Running Loop=1
2021-05-18T14:59:49.171Z,1621349989.171 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-05-18T14:59:49.172Z,1621349989.172 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-05-18T14:59:49.173Z,1621349989.173 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-05-18T14:59:49.173Z,1621349989.173 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-05-18T14:59:49.173Z,1621349989.173 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-05-18T14:59:49.174Z,1621349989.174 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-05-18T14:59:49.175Z,1621349989.175 [Startup:StartupSatComms] Running Loop=1
2021-05-18T14:59:49.175Z,1621349989.175 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-05-18T14:59:49.175Z,1621349989.175 [Startup:StartupSatComms:A] Running Loop=1
2021-05-18T14:59:49.550Z,1621349989.550 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-05-18T14:59:49.947Z,1621349989.947 [AMEcho](INFO): Powering up.
2021-05-18T15:00:49.346Z,1621350049.346 [Startup:StartupSatComms:A](INFO): Timed out from 2021-05-18T14:59:49.2Z
2021-05-18T15:00:49.346Z,1621350049.346 [Startup:StartupSatComms:A] Stopped
2021-05-18T15:00:49.346Z,1621350049.346 [Startup:StartupSatComms:B] Running Loop=1
2021-05-18T15:00:49.747Z,1621350049.747 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-05-18T15:00:56.636Z,1621350056.636 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210518T045808/Courier0003.lzma
2021-05-18T15:00:57.054Z,1621350057.054 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2021-05-18T15:00:57.054Z,1621350057.054 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-05-18T15:00:57.142Z,1621350057.142 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-05-18T15:00:57.483Z,1621350057.483 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-05-18T15:00:57.483Z,1621350057.483 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2021-05-18T15:00:58.166Z,1621350058.166 [DataOverHttps](INFO): Moved sent file to Logs/20210518T045808/Courier0003.lzma.bak
2021-05-18T15:00:58.166Z,1621350058.166 [DataOverHttps](INFO): SBD MOMSN=15648628
2021-05-18T15:01:13.186Z,1621350073.186 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20210518T145747/Courier0000.lzma
2021-05-18T15:01:14.189Z,1621350074.189 [DataOverHttps](INFO): Moved sent file to Logs/20210518T145747/Courier0000.lzma.bak
2021-05-18T15:01:14.189Z,1621350074.189 [DataOverHttps](INFO): SBD MOMSN=15648630
2021-05-18T15:01:30.946Z,1621350090.946 [DAT](INFO): DAT read: user:6>Lowpower

2021-05-18T15:01:30.946Z,1621350090.946 [DAT](DEBUG): Re-entering command mode due to deviceResponse_: user:6>Lowpower

2021-05-18T15:01:31.223Z,1621350091.223 [DataOverHttps](INFO): Sending 214 bytes from file Logs/20210518T045808/Express0004.lzma
2021-05-18T15:01:32.225Z,1621350092.225 [DataOverHttps](INFO): Moved sent file to Logs/20210518T045808/Express0004.lzma.bak
2021-05-18T15:01:32.225Z,1621350092.225 [DataOverHttps](INFO): SBD MOMSN=15648633
2021-05-18T15:01:49.436Z,1621350109.436 [DataOverHttps](INFO): Sending 863 bytes from file Logs/20210518T145747/Express0001.lzma
2021-05-18T15:01:49.549Z,1621350109.549 [Startup:StartupSatComms:B](INFO): Timed out from 2021-05-18T15:00:49.3Z
2021-05-18T15:01:49.549Z,1621350109.549 [Startup:StartupSatComms:B] Stopped
2021-05-18T15:01:49.549Z,1621350109.549 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2021-05-18T15:01:49.549Z,1621350109.549 [Startup:StartupSatComms] Stopped
2021-05-18T15:01:49.549Z,1621350109.549 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-05-18T15:01:49.550Z,1621350109.550 [Startup](INFO): Completed Startup
2021-05-18T15:01:49.550Z,1621350109.550 [MissionManager](INFO): Startup is completed.
2021-05-18T15:01:49.550Z,1621350109.550 [MissionManager](INFO): Uninitializing Mission Startup
2021-05-18T15:01:49.550Z,1621350109.550 [Startup] Stopped
2021-05-18T15:01:49.550Z,1621350109.550 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-05-18T15:01:49.550Z,1621350109.550 [Startup:A.GoToSurface] Stopped
2021-05-18T15:01:49.550Z,1621350109.550 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-05-18T15:01:49.957Z,1621350109.957 [MissionManager](IMPORTANT): Started mission Default
2021-05-18T15:01:49.958Z,1621350109.958 [Default] Running Loop=1
2021-05-18T15:01:49.958Z,1621350109.958 [Default](DEBUG): Aggregate::initialize Default
2021-05-18T15:01:49.958Z,1621350109.958 [Default:B.GoToSurface] Running Loop=1
2021-05-18T15:01:49.958Z,1621350109.958 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-05-18T15:01:49.958Z,1621350109.958 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-05-18T15:01:49.959Z,1621350109.959 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-05-18T15:01:49.959Z,1621350109.959 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-05-18T15:01:49.959Z,1621350109.959 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-05-18T15:01:49.960Z,1621350109.960 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-05-18T15:01:49.960Z,1621350109.960 [Default:A.Wait] Running Loop=1
2021-05-18T15:01:49.960Z,1621350109.960 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-05-18T15:01:50.437Z,1621350110.437 [DataOverHttps](INFO): Moved sent file to Logs/20210518T145747/Express0001.lzma.bak
2021-05-18T15:01:50.437Z,1621350110.437 [DataOverHttps](INFO): SBD MOMSN=15648638
2021-05-18T15:01:50.495Z,1621350110.495 [AMEcho](INFO): Powering down.
2021-05-18T15:01:51.541Z,1621350111.541 [AMEcho](INFO): Powering up.
2021-05-18T15:02:03.278Z,1621350123.278 [Default:A.Wait](INFO): Done Waiting.
2021-05-18T15:02:03.278Z,1621350123.278 [Default:A.Wait] Stopped
2021-05-18T15:02:03.278Z,1621350123.278 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-05-18T15:02:03.669Z,1621350123.669 [AMEcho](ERROR): No EchoSounder communication! Re-initializing
2021-05-18T15:02:03.669Z,1621350123.669 [AMEcho] Communications Fault, FailCount= 1
2021-05-18T15:02:03.669Z,1621350123.669 [AMEcho](ERROR): Communications Fault
2021-05-18T15:02:03.686Z,1621350123.686 [Default:CheckIn] Running Loop=1
2021-05-18T15:02:03.686Z,1621350123.686 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-05-18T15:02:03.686Z,1621350123.686 [Default:CheckIn:Read_GPS] Running Loop=1
2021-05-18T15:02:03.723Z,1621350123.723 [CBIT](ERROR): Communications Fault in component: AMEcho
2021-05-18T15:02:04.235Z,1621350124.235 [AMEcho](INFO): Powering down.
2021-05-18T15:02:04.250Z,1621350124.250 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-05-18T15:02:04.926Z,1621350124.926 [CBIT](INFO): Clearing failed state for component AMEcho
2021-05-18T15:02:04.926Z,1621350124.926 [AMEcho] No Fault, FailCount= 1
2021-05-18T15:02:05.295Z,1621350125.295 [AMEcho](INFO): Powering up.
2021-05-18T15:02:17.409Z,1621350137.409 [AMEcho](ERROR): No EchoSounder communication! Re-initializing
2021-05-18T15:02:17.409Z,1621350137.409 [AMEcho] Communications Fault, FailCount= 2
2021-05-18T15:02:17.409Z,1621350137.409 [AMEcho](ERROR): Communications Fault
2021-05-18T15:02:17.452Z,1621350137.452 [CBIT](ERROR): Communications Fault in component: AMEcho
2021-05-18T15:02:17.971Z,1621350137.971 [AMEcho](INFO): Powering down.
2021-05-18T15:02:18.641Z,1621350138.641 [CBIT](INFO): Clearing failed state for component AMEcho
2021-05-18T15:02:18.641Z,1621350138.641 [AMEcho] No Fault, FailCount= 2
2021-05-18T15:02:19.027Z,1621350139.027 [AMEcho](INFO): Powering up.
2021-05-18T15:02:31.156Z,1621350151.156 [AMEcho](ERROR): No EchoSounder communication! Re-initializing
2021-05-18T15:02:31.156Z,1621350151.156 [AMEcho] Communications Fault, FailCount= 3
2021-05-18T15:02:31.156Z,1621350151.156 [AMEcho](ERROR): Communications Fault
2021-05-18T15:02:31.214Z,1621350151.214 [CBIT](ERROR): Communications Fault in component: AMEcho
2021-05-18T15:02:31.216Z,1621350151.216 [CBIT](CRITICAL): Communications Fault in component: AMEcho
2021-05-18T15:02:31.731Z,1621350151.731 [AMEcho](INFO): Powering down.
2021-05-18T15:02:31.769Z,1621350151.769 [CommandLine](FAULT): Scheduling is paused
2021-05-18T15:02:31.769Z,1621350151.769 [CBIT](INFO): Critical error at 20210518T150231
2021-05-18T15:02:31.769Z,1621350151.769 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2021-05-18T15:02:54.480Z,1621350174.480 [CommandLine](IMPORTANT): got command failComponent
2021-05-18T15:02:54.480Z,1621350174.480 [CommandLine](IMPORTANT): Failed components:
2021-05-18T15:02:54.480Z,1621350174.480 [CommandLine](IMPORTANT): AMEcho: Communications Fault
2021-05-18T15:03:01.761Z,1621350181.761 [CommandLine](IMPORTANT): got command show stack
2021-05-18T15:03:01.761Z,1621350181.761 [CommandLine](IMPORTANT): Behavior Stack:

2021-05-18T15:03:01.761Z,1621350181.761 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2021-05-18T15:03:01.761Z,1621350181.761 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2021-05-18T15:03:08.917Z,1621350188.917 [CommandLine](IMPORTANT): got command run ./Missions/lab_range_test.xml
2021-05-18T15:03:08.917Z,1621350188.917 [MissionManager](INFO): Loading Mission: ./Missions/lab_range_test.xml
2021-05-18T15:03:08.941Z,1621350188.941 [MissionManager](INFO): DefineArg lab_range_test.MissionTimeout = 2.000000 min
2021-05-18T15:03:08.944Z,1621350188.944 [MissionManager](INFO): DefineArg lab_range_test.ContactLabel = 50.000000 count
2021-05-18T15:03:08.946Z,1621350188.946 [MissionManager](INFO): DefineArg lab_range_test.TrackingUpdatePeriod = 5.000000 s
2021-05-18T15:03:08.949Z,1621350188.949 [MissionManager](INFO): DefineArg lab_range_test.NumberOfPings = 5.000000 count
2021-05-18T15:03:08.952Z,1621350188.952 [MissionManager](INFO): DefineArg lab_range_test.ContactDepth = nan m
2021-05-18T15:03:09.038Z,1621350189.038 [lab_range_test:B.Wait](DEBUG): Construct Wait.
2021-05-18T15:03:09.060Z,1621350189.060 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="lab_range_test">

    <Description>
        LAB TEST MISSION - ping remote xponder
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:minute/><Value>2</Value></DefineArg>

    <DefineArg Name="ContactLabel"><Description>
        The acoustic address of the asset to be tracked
    </Description><Units:count/><Value>50</Value></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries
    </Description><Units:second/><Value>5</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of return pings to request with each acoustic query (more than 1
        will activate oneway mode)
    </Description><Units:count/><Value>5</Value></DefineArg>

    <DefineArg Name="ContactDepth"><Description>
        The acoustic address of the asset to be tracked
    </Description><Units:meter/><Value>NaN</Value></DefineArg>
    

<!-- Missions should always start with a timeout. -->

    <Timeout Duration="MissionTimeout"/>

    <Estimation:Tracking>
        <Parallel/>
        <Setting><Estimation:Tracking.contactDepthSetting/><Arg Name="ContactDepth"/></Setting>
        <Setting><Estimation:Tracking.contactLabelSetting/><Arg Name="ContactLabel"/></Setting>
        <Setting><Estimation:Tracking.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
        <Setting><Estimation:Tracking.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
    </Estimation:Tracking>

    <Guidance:Wait>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Arg Name="MissionTimeout"/></Setting>
    </Guidance:Wait>

</Mission>


2021-05-18T15:03:09.062Z,1621350189.062 [CommandLine](IMPORTANT): Running ./Missions/lab_range_test.xml
2021-05-18T15:03:09.136Z,1621350189.136 [Default] Stopped
2021-05-18T15:03:09.137Z,1621350189.137 [Default](DEBUG): Aggregate::uninitialize Default
2021-05-18T15:03:09.137Z,1621350189.137 [Default:B.GoToSurface] Stopped
2021-05-18T15:03:09.137Z,1621350189.137 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-05-18T15:03:09.137Z,1621350189.137 [Default:CheckIn] Stopped
2021-05-18T15:03:09.137Z,1621350189.137 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-05-18T15:03:09.137Z,1621350189.137 [Default:CheckIn:Read_GPS] Stopped
2021-05-18T15:03:09.137Z,1621350189.137 [MissionManager](IMPORTANT): Started mission lab_range_test
2021-05-18T15:03:09.137Z,1621350189.137 [lab_range_test] Running Loop=1
2021-05-18T15:03:09.138Z,1621350189.138 [lab_range_test](DEBUG): Aggregate::initialize lab_range_test
2021-05-18T15:03:09.138Z,1621350189.138 [lab_range_test:A.] Running Loop=1
2021-05-18T15:03:09.138Z,1621350189.138 [lab_range_test:A.](INFO): Initializing Tracking.
2021-05-18T15:03:09.138Z,1621350189.138 [lab_range_test:B.Wait] Running Loop=1
2021-05-18T15:03:09.138Z,1621350189.138 [lab_range_test:B.Wait](DEBUG): Initialize Wait Component.
2021-05-18T15:03:09.139Z,1621350189.139 [lab_range_test:A.] Running Loop=1
2021-05-18T15:03:09.155Z,1621350189.155 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:09.553Z,1621350189.553 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:09.937Z,1621350189.937 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:10.345Z,1621350190.345 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:10.752Z,1621350190.752 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:11.149Z,1621350191.149 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:11.553Z,1621350191.553 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:11.960Z,1621350191.960 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:12.385Z,1621350192.385 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:12.793Z,1621350192.793 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:13.198Z,1621350193.198 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:13.593Z,1621350193.593 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:13.983Z,1621350193.983 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:14.380Z,1621350194.380 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:14.381Z,1621350194.381 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying...
2021-05-18T15:03:14.381Z,1621350194.381 [lab_range_test:A.](INFO): *** querying DAT ***
2021-05-18T15:03:14.778Z,1621350194.778 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:14.778Z,1621350194.778 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:14.779Z,1621350194.779 [DAT](INFO): entering command mode
2021-05-18T15:03:14.786Z,1621350194.786 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:15.178Z,1621350195.178 [DAT](INFO): DAT read: UART Wakeup

2021-05-18T15:03:15.179Z,1621350195.179 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2021-05-18T15:03:15.179Z,1621350195.179 [DAT](INFO): commRate: 800
2021-05-18T15:03:15.180Z,1621350195.180 [DAT](INFO): DAT read: 

2021-05-18T15:03:15.180Z,1621350195.180 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:15.180Z,1621350195.180 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:15.193Z,1621350195.193 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:15.592Z,1621350195.592 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:15.592Z,1621350195.592 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:15.605Z,1621350195.605 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:15.986Z,1621350195.986 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:15.986Z,1621350195.986 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:15.997Z,1621350195.997 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:16.390Z,1621350196.390 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:16.390Z,1621350196.390 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:16.402Z,1621350196.402 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:16.793Z,1621350196.793 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:16.793Z,1621350196.793 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:16.805Z,1621350196.805 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:17.210Z,1621350197.210 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:17.211Z,1621350197.211 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:17.211Z,1621350197.211 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:17.249Z,1621350197.249 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:17.623Z,1621350197.623 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:17.623Z,1621350197.623 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:17.623Z,1621350197.623 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:17.637Z,1621350197.637 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:18.020Z,1621350198.020 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:18.020Z,1621350198.020 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:18.020Z,1621350198.020 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:18.050Z,1621350198.050 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:18.424Z,1621350198.424 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:18.424Z,1621350198.424 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:18.424Z,1621350198.424 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:18.437Z,1621350198.437 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:18.828Z,1621350198.828 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:18.828Z,1621350198.828 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:18.828Z,1621350198.828 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:18.842Z,1621350198.842 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:19.221Z,1621350199.221 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:19.222Z,1621350199.222 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:19.222Z,1621350199.222 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:19.257Z,1621350199.257 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:19.626Z,1621350199.626 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:19.626Z,1621350199.626 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:19.626Z,1621350199.626 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:19.634Z,1621350199.634 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:19.634Z,1621350199.634 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying...
2021-05-18T15:03:19.634Z,1621350199.634 [lab_range_test:A.](INFO): *** querying DAT ***
2021-05-18T15:03:20.026Z,1621350200.026 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:20.026Z,1621350200.026 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:20.026Z,1621350200.026 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:20.037Z,1621350200.037 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:20.556Z,1621350200.556 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:20.556Z,1621350200.556 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:20.556Z,1621350200.556 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:20.564Z,1621350200.564 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:20.864Z,1621350200.864 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:20.864Z,1621350200.864 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:20.865Z,1621350200.865 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:20.876Z,1621350200.876 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:21.275Z,1621350201.275 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:21.275Z,1621350201.275 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:21.275Z,1621350201.275 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:21.283Z,1621350201.283 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:21.670Z,1621350201.670 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:21.670Z,1621350201.670 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:21.670Z,1621350201.670 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:21.681Z,1621350201.681 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:22.055Z,1621350202.055 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:22.055Z,1621350202.055 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:22.055Z,1621350202.055 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:22.062Z,1621350202.062 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:22.458Z,1621350202.458 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:22.458Z,1621350202.458 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:22.458Z,1621350202.458 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:22.490Z,1621350202.490 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:22.868Z,1621350202.868 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:22.868Z,1621350202.868 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:22.868Z,1621350202.868 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:22.911Z,1621350202.911 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:23.268Z,1621350203.268 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:23.268Z,1621350203.268 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:23.268Z,1621350203.268 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:23.285Z,1621350203.285 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:23.676Z,1621350203.676 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:23.676Z,1621350203.676 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:23.676Z,1621350203.676 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:23.693Z,1621350203.693 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:24.084Z,1621350204.084 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:24.084Z,1621350204.084 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:24.084Z,1621350204.084 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:24.093Z,1621350204.093 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:24.469Z,1621350204.469 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:24.470Z,1621350204.470 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:24.470Z,1621350204.470 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:24.481Z,1621350204.481 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:24.873Z,1621350204.873 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:24.873Z,1621350204.873 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:24.873Z,1621350204.873 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:24.888Z,1621350204.888 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:24.889Z,1621350204.889 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying...
2021-05-18T15:03:24.889Z,1621350204.889 [lab_range_test:A.](INFO): *** querying DAT ***
2021-05-18T15:03:25.284Z,1621350205.284 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:25.284Z,1621350205.284 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:25.284Z,1621350205.284 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:25.306Z,1621350205.306 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:25.681Z,1621350205.681 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:25.682Z,1621350205.682 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:25.682Z,1621350205.682 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:25.725Z,1621350205.725 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:26.085Z,1621350206.085 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:26.085Z,1621350206.085 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:26.085Z,1621350206.085 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:26.100Z,1621350206.100 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:26.490Z,1621350206.490 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:26.490Z,1621350206.490 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:26.490Z,1621350206.490 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:26.559Z,1621350206.559 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:26.897Z,1621350206.897 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:26.898Z,1621350206.898 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:26.898Z,1621350206.898 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:26.910Z,1621350206.910 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:27.310Z,1621350207.310 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:27.311Z,1621350207.311 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:27.311Z,1621350207.311 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:27.329Z,1621350207.329 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:27.702Z,1621350207.702 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:27.702Z,1621350207.702 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:27.702Z,1621350207.702 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:27.768Z,1621350207.768 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:28.116Z,1621350208.116 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:28.116Z,1621350208.116 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:28.116Z,1621350208.116 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:28.129Z,1621350208.129 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:28.528Z,1621350208.528 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:28.528Z,1621350208.528 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:28.528Z,1621350208.528 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:28.541Z,1621350208.541 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:28.936Z,1621350208.936 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:28.936Z,1621350208.936 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:28.936Z,1621350208.936 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:28.953Z,1621350208.953 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:29.338Z,1621350209.338 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:29.339Z,1621350209.339 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:29.339Z,1621350209.339 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:29.356Z,1621350209.356 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:29.725Z,1621350209.725 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:29.725Z,1621350209.725 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:29.725Z,1621350209.725 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:29.737Z,1621350209.737 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:30.126Z,1621350210.126 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:30.126Z,1621350210.126 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:30.126Z,1621350210.126 [DAT](DEBUG): checking for command mode acknowledgment
2021-05-18T15:03:30.126Z,1621350210.126 [DAT](FAULT): failed to enter command mode
2021-05-18T15:03:30.137Z,1621350210.137 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:30.138Z,1621350210.138 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying...
2021-05-18T15:03:30.138Z,1621350210.138 [lab_range_test:A.](INFO): *** querying DAT ***
2021-05-18T15:03:30.539Z,1621350210.539 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:30.539Z,1621350210.539 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:30.540Z,1621350210.540 [DAT](INFO): entering command mode
2021-05-18T15:03:30.549Z,1621350210.549 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:30.937Z,1621350210.937 [DAT](INFO): DAT read: user:6>

2021-05-18T15:03:30.938Z,1621350210.938 [DAT](INFO): DAT read: Command '+++' not found

2021-05-18T15:03:30.939Z,1621350210.939 [DAT](INFO): DAT read: Error

2021-05-18T15:03:30.939Z,1621350210.939 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:30.939Z,1621350210.939 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:30.940Z,1621350210.940 [DAT](INFO): setting remote address to 0
2021-05-18T15:03:30.992Z,1621350210.992 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:31.338Z,1621350211.338 [DAT](INFO): DAT read: user:7>

2021-05-18T15:03:31.339Z,1621350211.339 [DAT](INFO): DAT read: RemoteAddr      | 0           

2021-05-18T15:03:31.339Z,1621350211.339 [DAT](INFO): set remote address to 0
2021-05-18T15:03:31.340Z,1621350211.340 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:31.340Z,1621350211.340 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:31.340Z,1621350211.340 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode.
2021-05-18T15:03:31.342Z,1621350211.342 [DAT](INFO): ****** ping requested ******
2021-05-18T15:03:31.357Z,1621350211.357 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:31.750Z,1621350211.750 [DAT](INFO): DAT read: user:8>

2021-05-18T15:03:31.753Z,1621350211.753 [DAT](INFO): DAT read: Tx time:15:03:05.7456

2021-05-18T15:03:31.754Z,1621350211.754 [DAT](INFO): Ping request sent.
2021-05-18T15:03:31.771Z,1621350211.771 [DAT](INFO): transmitted an acoustic signal
2021-05-18T15:03:31.771Z,1621350211.771 [DAT](INFO): publishing transmit ping time
2021-05-18T15:03:31.772Z,1621350211.772 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.018029
2021-05-18T15:03:31.798Z,1621350211.798 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:32.146Z,1621350212.146 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.391351
2021-05-18T15:03:32.158Z,1621350212.158 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:32.550Z,1621350212.550 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.795941
2021-05-18T15:03:32.563Z,1621350212.563 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:32.962Z,1621350212.962 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.207434
2021-05-18T15:03:32.969Z,1621350212.969 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:33.380Z,1621350213.380 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.625901
2021-05-18T15:03:33.393Z,1621350213.393 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:33.785Z,1621350213.785 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.030358
2021-05-18T15:03:33.792Z,1621350213.792 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:34.305Z,1621350214.305 [DAT](INFO): DAT read: Rx Time:15:03:07.8752 

2021-05-18T15:03:34.305Z,1621350214.305 [DAT](INFO): received an acoustic signal
2021-05-18T15:03:34.306Z,1621350214.306 [DAT](INFO): DAT read: Bearing  70.1,   2.1 (Local)

2021-05-18T15:03:34.307Z,1621350214.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.1,   2.1 (Local)

2021-05-18T15:03:34.309Z,1621350214.309 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:03:34.314Z,1621350214.314 [DAT](INFO): DAT read: 15:03:07.8752 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 176, 0.07, 0.796, 0.534, 0.765, 0.710, PHS= 0.082,-0.132, 0.040, RAW= 139.2,   1.1, CAL= 139.9,  -2.1, ROT=  70.1,   2.1

2021-05-18T15:03:34.315Z,1621350214.315 [DAT](INFO): got valid direction response:
 15:03:07.8752 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 176, 0.07, 0.796, 0.534, 0.765, 0.710, PHS= 0.082,-0.132, 0.040, RAW= 139.2,   1.1, CAL= 139.9,  -2.1, ROT=  70.1,   2.1

2021-05-18T15:03:34.315Z,1621350214.315 [DAT](INFO): #Rx 1: Read range and direction messages.
2021-05-18T15:03:34.317Z,1621350214.317 [DAT](INFO): direction in vehicle frame: [ 0.340151 forward, 0.939657 starboard, 0.036644 keelward ]
2021-05-18T15:03:34.317Z,1621350214.317 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:03:34.317Z,1621350214.317 [DAT](INFO): publishing direction and range info
2021-05-18T15:03:34.321Z,1621350214.321 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.567062
2021-05-18T15:03:34.329Z,1621350214.329 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:34.330Z,1621350214.330 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.340151 forward, 0.939657 starboard, 0.036644 keelward ]
2021-05-18T15:03:34.331Z,1621350214.331 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:03:34.333Z,1621350214.333 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998848,-0.047902,-0.002731;0.047956,0.998540,0.024866;0.001536,-0.024968,0.999687 ]
2021-05-18T15:03:34.334Z,1621350214.334 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:03:34.335Z,1621350214.335 [lab_range_test:A.](INFO): direction in world frame: [ 0.384877 north, 0.921076 east, 0.059069 down ]
2021-05-18T15:03:34.336Z,1621350214.336 [lab_range_test:A.](INFO): relPosInFSK: [ 0.102045 forward, 0.281897 starboard, 0.010993 keelward ]
2021-05-18T15:03:34.336Z,1621350214.336 [lab_range_test:A.](INFO): relPosInNED: [ 0.115463 north, 0.276323 east, 0.017721 down ]
2021-05-18T15:03:34.337Z,1621350214.337 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:03:34.337Z,1621350214.337 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:03:34.609Z,1621350214.609 [DAT](INFO): DAT read: Rx Time:15:03:08.3752 

2021-05-18T15:03:34.609Z,1621350214.609 [DAT](INFO): received an acoustic signal
2021-05-18T15:03:34.610Z,1621350214.610 [DAT](INFO): DAT read: Bearing  71.9,   3.6 (Local)

2021-05-18T15:03:34.611Z,1621350214.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.9,   3.6 (Local)

2021-05-18T15:03:34.613Z,1621350214.613 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:03:34.626Z,1621350214.626 [DAT](INFO): DAT read: 15:03:08.3752 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.21, 1.270, 1.020, 1.235, 1.181, PHS= 0.085,-0.118, 0.038, RAW= 137.3,  -0.5, CAL= 138.1,  -3.6, ROT=  71.9,   3.6

2021-05-18T15:03:34.631Z,1621350214.631 [DAT](INFO): got valid direction response:
 15:03:08.3752 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.21, 1.270, 1.020, 1.235, 1.181, PHS= 0.085,-0.118, 0.038, RAW= 137.3,  -0.5, CAL= 138.1,  -3.6, ROT=  71.9,   3.6

2021-05-18T15:03:34.632Z,1621350214.632 [DAT](INFO): #Rx 2: Read range and direction messages.
2021-05-18T15:03:34.633Z,1621350214.633 [DAT](INFO): direction in vehicle frame: [ 0.310063 forward, 0.948640 starboard, 0.062791 keelward ]
2021-05-18T15:03:34.633Z,1621350214.633 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:03:34.633Z,1621350214.633 [DAT](INFO): publishing direction and range info
2021-05-18T15:03:34.641Z,1621350214.641 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.886318
2021-05-18T15:03:34.652Z,1621350214.652 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:34.654Z,1621350214.654 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.310063 forward, 0.948640 starboard, 0.062791 keelward ]
2021-05-18T15:03:34.654Z,1621350214.654 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:03:34.660Z,1621350214.660 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998854,-0.047785,-0.002765;0.047839,0.998546,0.024852;0.001574,-0.024956,0.999687 ]
2021-05-18T15:03:34.661Z,1621350214.661 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:03:34.662Z,1621350214.662 [lab_range_test:A.](INFO): direction in world frame: [ 0.355189 north, 0.930877 east, 0.085489 down ]
2021-05-18T15:03:34.662Z,1621350214.662 [lab_range_test:A.](INFO): relPosInFSK: [ 0.093019 forward, 0.284592 starboard, 0.018837 keelward ]
2021-05-18T15:03:34.667Z,1621350214.667 [lab_range_test:A.](INFO): relPosInNED: [ 0.106557 north, 0.279263 east, 0.025647 down ]
2021-05-18T15:03:34.668Z,1621350214.668 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:03:34.668Z,1621350214.668 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:03:34.999Z,1621350214.999 [DAT](INFO): DAT read: Rx Time:15:03:08.8751 

2021-05-18T15:03:34.999Z,1621350214.999 [DAT](INFO): received an acoustic signal
2021-05-18T15:03:35.001Z,1621350215.001 [DAT](INFO): DAT read: Bearing  70.6,   2.4 (Local)

2021-05-18T15:03:35.001Z,1621350215.001 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.6,   2.4 (Local)

2021-05-18T15:03:35.003Z,1621350215.003 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:03:35.008Z,1621350215.008 [DAT](INFO): DAT read: 15:03:08.8751 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.37, 0.438, 0.202, 0.410, 0.360, PHS= 0.074,-0.115, 0.035, RAW= 138.7,   0.7, CAL= 139.4,  -2.4, ROT=  70.6,   2.4

2021-05-18T15:03:35.009Z,1621350215.009 [DAT](INFO): got valid direction response:
 15:03:08.8751 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.37, 0.438, 0.202, 0.410, 0.360, PHS= 0.074,-0.115, 0.035, RAW= 138.7,   0.7, CAL= 139.4,  -2.4, ROT=  70.6,   2.4

2021-05-18T15:03:35.009Z,1621350215.009 [DAT](INFO): #Rx 3: Read range and direction messages.
2021-05-18T15:03:35.010Z,1621350215.010 [DAT](INFO): direction in vehicle frame: [ 0.331870 forward, 0.942395 starboard, 0.041876 keelward ]
2021-05-18T15:03:35.011Z,1621350215.011 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:03:35.011Z,1621350215.011 [DAT](INFO): publishing direction and range info
2021-05-18T15:03:35.014Z,1621350215.014 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.259463
2021-05-18T15:03:35.021Z,1621350215.021 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:35.022Z,1621350215.022 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.331870 forward, 0.942395 starboard, 0.041876 keelward ]
2021-05-18T15:03:35.022Z,1621350215.022 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:03:35.024Z,1621350215.024 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998796,-0.048969,-0.002763;0.049022,0.998491,0.024736;0.001547,-0.024841,0.999690 ]
2021-05-18T15:03:35.025Z,1621350215.025 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:03:35.025Z,1621350215.025 [lab_range_test:A.](INFO): direction in world frame: [ 0.377734 north, 0.923682 east, 0.064256 down ]
2021-05-18T15:03:35.026Z,1621350215.026 [lab_range_test:A.](INFO): relPosInFSK: [ 0.066374 forward, 0.188479 starboard, 0.008375 keelward ]
2021-05-18T15:03:35.027Z,1621350215.027 [lab_range_test:A.](INFO): relPosInNED: [ 0.075547 north, 0.184736 east, 0.012851 down ]
2021-05-18T15:03:35.027Z,1621350215.027 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:03:35.027Z,1621350215.027 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:03:35.420Z,1621350215.420 [DAT](INFO): DAT read: Rx Time:15:03:09.3753 

2021-05-18T15:03:35.421Z,1621350215.421 [DAT](INFO): received an acoustic signal
2021-05-18T15:03:35.422Z,1621350215.422 [DAT](INFO): DAT read: Bearing  67.0,  -2.6 (Local)

2021-05-18T15:03:35.423Z,1621350215.423 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.0,  -2.6 (Local)

2021-05-18T15:03:35.433Z,1621350215.433 [DAT](INFO): DAT read: Range 7 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2021-05-18T15:03:35.443Z,1621350215.443 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2021-05-18T15:03:35.443Z,1621350215.443 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:03:35.445Z,1621350215.445 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=3.690348
2021-05-18T15:03:35.480Z,1621350215.480 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:35.481Z,1621350215.481 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.331870 forward, 0.942395 starboard, 0.041876 keelward ]
2021-05-18T15:03:35.481Z,1621350215.481 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:03:35.490Z,1621350215.490 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998839,-0.048107,-0.002693;0.048159,0.998531,0.024848;0.001493,-0.024948,0.999688 ]
2021-05-18T15:03:35.503Z,1621350215.503 [lab_range_test:A.](INFO): rangeToContact_ = 0.500000 m
2021-05-18T15:03:35.504Z,1621350215.504 [lab_range_test:A.](INFO): direction in world frame: [ 0.376932 north, 0.924000 east, 0.064385 down ]
2021-05-18T15:03:35.505Z,1621350215.505 [lab_range_test:A.](INFO): relPosInFSK: [ 0.165935 forward, 0.471198 starboard, 0.020938 keelward ]
2021-05-18T15:03:35.505Z,1621350215.505 [lab_range_test:A.](INFO): relPosInNED: [ 0.188466 north, 0.462000 east, 0.032193 down ]
2021-05-18T15:03:35.506Z,1621350215.506 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:03:35.506Z,1621350215.506 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:03:35.794Z,1621350215.794 [DAT](INFO): DAT read: 15:03:09.3753 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   1,-0.38,-0.172,-0.474,-0.197,-0.249, PHS= 0.073,-0.181, 0.037, RAW= 142.6,   6.0, CAL= 143.0,   2.6, ROT=  67.0,  -2.6

2021-05-18T15:03:35.795Z,1621350215.795 [DAT](INFO): got valid direction response:
 15:03:09.3753 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   1,-0.38,-0.172,-0.474,-0.197,-0.249, PHS= 0.073,-0.181, 0.037, RAW= 142.6,   6.0, CAL= 143.0,   2.6, ROT=  67.0,  -2.6

2021-05-18T15:03:35.796Z,1621350215.796 [DAT](INFO): #Rx 5: Read direction message, but no range.
2021-05-18T15:03:35.797Z,1621350215.797 [DAT](INFO): direction in vehicle frame: [ 0.390329 forward, 0.919557 starboard, -0.045363 keelward ]
2021-05-18T15:03:35.808Z,1621350215.808 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:36.194Z,1621350216.194 [DAT](INFO): DAT read: Rx Time:15:03:09.8752 

2021-05-18T15:03:36.195Z,1621350216.195 [DAT](INFO): received an acoustic signal
2021-05-18T15:03:36.196Z,1621350216.196 [DAT](INFO): DAT read: Bearing  66.0,  -3.8 (Local)

2021-05-18T15:03:36.196Z,1621350216.196 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.0,  -3.8 (Local)

2021-05-18T15:03:36.198Z,1621350216.198 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:03:36.227Z,1621350216.227 [DAT](INFO): DAT read: 15:03:09.8752 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.21,-1.734,-2.045,-1.754,-1.806, PHS= 0.068,-0.195, 0.037, RAW= 143.7,   7.3, CAL= 144.0,   3.8, ROT=  66.0,  -3.8

2021-05-18T15:03:36.228Z,1621350216.228 [DAT](INFO): got valid direction response:
 15:03:09.8752 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.21,-1.734,-2.045,-1.754,-1.806, PHS= 0.068,-0.195, 0.037, RAW= 143.7,   7.3, CAL= 144.0,   3.8, ROT=  66.0,  -3.8

2021-05-18T15:03:36.229Z,1621350216.229 [DAT](INFO): #Rx 6: Read range and direction messages.
2021-05-18T15:03:36.229Z,1621350216.229 [DAT](INFO): direction in vehicle frame: [ 0.405842 forward, 0.911537 starboard, -0.066274 keelward ]
2021-05-18T15:03:36.230Z,1621350216.230 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:03:36.230Z,1621350216.230 [DAT](INFO): publishing direction and range info
2021-05-18T15:03:36.240Z,1621350216.240 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:36.241Z,1621350216.241 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.405842 forward, 0.911537 starboard, -0.066274 keelward ]
2021-05-18T15:03:36.241Z,1621350216.241 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:03:36.243Z,1621350216.243 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998834,-0.048200,-0.002864;0.048256,0.998527,0.024800;0.001665,-0.024909,0.999688 ]
2021-05-18T15:03:36.244Z,1621350216.244 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:03:36.244Z,1621350216.244 [lab_range_test:A.](INFO): direction in world frame: [ 0.449246 north, 0.892284 east, -0.044810 down ]
2021-05-18T15:03:36.245Z,1621350216.245 [lab_range_test:A.](INFO): relPosInFSK: [ 0.121753 forward, 0.273461 starboard, -0.019882 keelward ]
2021-05-18T15:03:36.246Z,1621350216.246 [lab_range_test:A.](INFO): relPosInNED: [ 0.134774 north, 0.267685 east, -0.013443 down ]
2021-05-18T15:03:36.246Z,1621350216.246 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:03:36.246Z,1621350216.246 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:03:36.638Z,1621350216.638 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:37.013Z,1621350217.013 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:37.414Z,1621350217.414 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:37.818Z,1621350217.818 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:38.216Z,1621350218.216 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:38.650Z,1621350218.650 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:39.041Z,1621350219.041 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:39.449Z,1621350219.449 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:39.847Z,1621350219.847 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:40.228Z,1621350220.228 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2021-05-18T15:03:40.237Z,1621350220.237 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:40.642Z,1621350220.642 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:41.065Z,1621350221.065 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:41.461Z,1621350221.461 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:41.462Z,1621350221.462 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying...
2021-05-18T15:03:41.462Z,1621350221.462 [lab_range_test:A.](INFO): *** querying DAT ***
2021-05-18T15:03:41.841Z,1621350221.841 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:41.841Z,1621350221.841 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:41.842Z,1621350221.842 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode.
2021-05-18T15:03:41.842Z,1621350221.842 [DAT](INFO): ****** ping requested ******
2021-05-18T15:03:41.857Z,1621350221.857 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:42.245Z,1621350222.245 [DAT](INFO): DAT read: user:9>

2021-05-18T15:03:42.246Z,1621350222.246 [DAT](INFO): DAT read: Tx time:15:03:16.5804

2021-05-18T15:03:42.246Z,1621350222.246 [DAT](INFO): Ping request sent.
2021-05-18T15:03:42.246Z,1621350222.246 [DAT](INFO): transmitted an acoustic signal
2021-05-18T15:03:42.247Z,1621350222.247 [DAT](INFO): publishing transmit ping time
2021-05-18T15:03:42.248Z,1621350222.248 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.001089
2021-05-18T15:03:42.261Z,1621350222.261 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:42.659Z,1621350222.659 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.412703
2021-05-18T15:03:42.666Z,1621350222.666 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:43.054Z,1621350223.054 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.807136
2021-05-18T15:03:43.066Z,1621350223.066 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:43.458Z,1621350223.458 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.211646
2021-05-18T15:03:43.465Z,1621350223.465 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:43.876Z,1621350223.876 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.629694
2021-05-18T15:03:43.889Z,1621350223.889 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:44.280Z,1621350224.280 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.033695
2021-05-18T15:03:44.294Z,1621350224.294 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:44.678Z,1621350224.678 [DAT](INFO): DAT read: Rx Time:15:03:18.7101 

2021-05-18T15:03:44.678Z,1621350224.678 [DAT](INFO): received an acoustic signal
2021-05-18T15:03:44.707Z,1621350224.707 [DAT](INFO): DAT read: Bearing  68.2,  -1.3 (Local)

2021-05-18T15:03:44.708Z,1621350224.708 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.2,  -1.3 (Local)

2021-05-18T15:03:44.710Z,1621350224.710 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:03:44.715Z,1621350224.715 [DAT](INFO): DAT read: 15:03:18.7101 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208,-0.08, 1.516, 1.222, 1.488, 1.435, PHS= 0.078,-0.169, 0.038, RAW= 141.4,   4.6, CAL= 141.8,   1.3, ROT=  68.2,  -1.3

2021-05-18T15:03:44.716Z,1621350224.716 [DAT](INFO): got valid direction response:
 15:03:18.7101 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208,-0.08, 1.516, 1.222, 1.488, 1.435, PHS= 0.078,-0.169, 0.038, RAW= 141.4,   4.6, CAL= 141.8,   1.3, ROT=  68.2,  -1.3

2021-05-18T15:03:44.716Z,1621350224.716 [DAT](INFO): #Rx 1: Read range and direction messages.
2021-05-18T15:03:44.717Z,1621350224.717 [DAT](INFO): direction in vehicle frame: [ 0.371272 forward, 0.928247 starboard, -0.022687 keelward ]
2021-05-18T15:03:44.718Z,1621350224.718 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:03:44.718Z,1621350224.718 [DAT](INFO): publishing direction and range info
2021-05-18T15:03:44.721Z,1621350224.721 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.474301
2021-05-18T15:03:44.728Z,1621350224.728 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:44.729Z,1621350224.729 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.371272 forward, 0.928247 starboard, -0.022687 keelward ]
2021-05-18T15:03:44.730Z,1621350224.730 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:03:44.760Z,1621350224.760 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998781,-0.049281,-0.002765;0.049334,0.998476,0.024719;0.001543,-0.024826,0.999691 ]
2021-05-18T15:03:44.760Z,1621350224.760 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:03:44.761Z,1621350224.761 [lab_range_test:A.](INFO): direction in world frame: [ 0.416579 north, 0.909099 east, -0.000761 down ]
2021-05-18T15:03:44.762Z,1621350224.762 [lab_range_test:A.](INFO): relPosInFSK: [ 0.111382 forward, 0.278474 starboard, -0.006806 keelward ]
2021-05-18T15:03:44.763Z,1621350224.763 [lab_range_test:A.](INFO): relPosInNED: [ 0.124974 north, 0.272730 east, -0.000228 down ]
2021-05-18T15:03:44.763Z,1621350224.763 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:03:44.763Z,1621350224.763 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:03:45.078Z,1621350225.078 [DAT](INFO): DAT read: Rx Time:15:03:19.2100 

2021-05-18T15:03:45.079Z,1621350225.079 [DAT](INFO): received an acoustic signal
2021-05-18T15:03:45.080Z,1621350225.080 [DAT](INFO): DAT read: Bearing  70.9,   1.3 (Local)

2021-05-18T15:03:45.080Z,1621350225.080 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.9,   1.3 (Local)

2021-05-18T15:03:45.082Z,1621350225.082 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:03:45.088Z,1621350225.088 [DAT](INFO): DAT read: 15:03:19.2100 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.05, 1.435, 1.173, 1.400, 1.350, PHS= 0.081,-0.133, 0.035, RAW= 138.4,   1.8, CAL= 139.1,  -1.3, ROT=  70.9,   1.3

2021-05-18T15:03:45.089Z,1621350225.089 [DAT](INFO): got valid direction response:
 15:03:19.2100 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.05, 1.435, 1.173, 1.400, 1.350, PHS= 0.081,-0.133, 0.035, RAW= 138.4,   1.8, CAL= 139.1,  -1.3, ROT=  70.9,   1.3

2021-05-18T15:03:45.090Z,1621350225.090 [DAT](INFO): #Rx 2: Read range and direction messages.
2021-05-18T15:03:45.091Z,1621350225.091 [DAT](INFO): direction in vehicle frame: [ 0.327134 forward, 0.944706 starboard, 0.022687 keelward ]
2021-05-18T15:03:45.108Z,1621350225.108 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:03:45.108Z,1621350225.108 [DAT](INFO): publishing direction and range info
2021-05-18T15:03:45.111Z,1621350225.111 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.864229
2021-05-18T15:03:45.130Z,1621350225.130 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:45.136Z,1621350225.136 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.327134 forward, 0.944706 starboard, 0.022687 keelward ]
2021-05-18T15:03:45.136Z,1621350225.136 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:03:45.138Z,1621350225.138 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998840,-0.048072,-0.002750;0.048126,0.998532,0.024860;0.001551,-0.024963,0.999687 ]
2021-05-18T15:03:45.138Z,1621350225.138 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:03:45.143Z,1621350225.143 [lab_range_test:A.](INFO): direction in world frame: [ 0.372254 north, 0.927026 east, 0.045266 down ]
2021-05-18T15:03:45.144Z,1621350225.144 [lab_range_test:A.](INFO): relPosInFSK: [ 0.065427 forward, 0.188941 starboard, 0.004537 keelward ]
2021-05-18T15:03:45.145Z,1621350225.145 [lab_range_test:A.](INFO): relPosInNED: [ 0.074451 north, 0.185405 east, 0.009053 down ]
2021-05-18T15:03:45.146Z,1621350225.146 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:03:45.146Z,1621350225.146 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:03:45.483Z,1621350225.483 [DAT](INFO): DAT read: Rx Time:15:03:19.7101 

2021-05-18T15:03:45.483Z,1621350225.483 [DAT](INFO): received an acoustic signal
2021-05-18T15:03:45.484Z,1621350225.484 [DAT](INFO): DAT read: Bearing  67.5,  -5.7 (Local)

2021-05-18T15:03:45.485Z,1621350225.485 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.5,  -5.7 (Local)

2021-05-18T15:03:45.487Z,1621350225.487 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:03:45.492Z,1621350225.492 [DAT](INFO): DAT read: 15:03:19.7101 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.60,-1.937,-2.395,-1.988,-2.041, PHS= 0.100,-0.310, 0.038, RAW= 142.0,   9.0, CAL= 142.5,   5.7, ROT=  67.5,  -5.7

2021-05-18T15:03:45.493Z,1621350225.493 [DAT](INFO): got valid direction response:
 15:03:19.7101 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.60,-1.937,-2.395,-1.988,-2.041, PHS= 0.100,-0.310, 0.038, RAW= 142.0,   9.0, CAL= 142.5,   5.7, ROT=  67.5,  -5.7

2021-05-18T15:03:45.494Z,1621350225.494 [DAT](INFO): #Rx 3: Read range and direction messages.
2021-05-18T15:03:45.495Z,1621350225.495 [DAT](INFO): direction in vehicle frame: [ 0.380791 forward, 0.919311 starboard, -0.099320 keelward ]
2021-05-18T15:03:45.495Z,1621350225.495 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:03:45.495Z,1621350225.495 [DAT](INFO): publishing direction and range info
2021-05-18T15:03:45.498Z,1621350225.498 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.251789
2021-05-18T15:03:45.506Z,1621350225.506 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:45.507Z,1621350225.507 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.380791 forward, 0.919311 starboard, -0.099320 keelward ]
2021-05-18T15:03:45.507Z,1621350225.507 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:03:45.510Z,1621350225.510 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998848,-0.047905,-0.002723;0.047958,0.998539,0.024903;0.001527,-0.025005,0.999686 ]
2021-05-18T15:03:45.510Z,1621350225.510 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:03:45.512Z,1621350225.512 [lab_range_test:A.](INFO): direction in world frame: [ 0.424289 north, 0.902210 east, -0.077432 down ]
2021-05-18T15:03:45.512Z,1621350225.512 [lab_range_test:A.](INFO): relPosInFSK: [ 0.114237 forward, 0.275793 starboard, -0.029796 keelward ]
2021-05-18T15:03:45.513Z,1621350225.513 [lab_range_test:A.](INFO): relPosInNED: [ 0.127287 north, 0.270663 east, -0.023230 down ]
2021-05-18T15:03:45.513Z,1621350225.513 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:03:45.513Z,1621350225.513 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:03:45.886Z,1621350225.886 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.639303
2021-05-18T15:03:45.933Z,1621350225.933 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:46.313Z,1621350226.313 [DAT](INFO): DAT read: Rx Time:15:03:20.2100 

2021-05-18T15:03:46.313Z,1621350226.313 [DAT](INFO): received an acoustic signal
2021-05-18T15:03:46.314Z,1621350226.314 [DAT](INFO): DAT read: Bearing  71.2,   2.4 (Local)

2021-05-18T15:03:46.315Z,1621350226.315 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.2,   2.4 (Local)

2021-05-18T15:03:46.317Z,1621350226.317 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:03:46.322Z,1621350226.322 [DAT](INFO): DAT read: 15:03:20.2100 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.31, 2.147, 1.908, 2.116, 2.067, PHS= 0.076,-0.115, 0.034, RAW= 138.1,   0.6, CAL= 138.8,  -2.4, ROT=  71.2,   2.4

2021-05-18T15:03:46.323Z,1621350226.323 [DAT](INFO): got valid direction response:
 15:03:20.2100 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.31, 2.147, 1.908, 2.116, 2.067, PHS= 0.076,-0.115, 0.034, RAW= 138.1,   0.6, CAL= 138.8,  -2.4, ROT=  71.2,   2.4

2021-05-18T15:03:46.324Z,1621350226.324 [DAT](INFO): #Rx 4: Read range and direction messages.
2021-05-18T15:03:46.325Z,1621350226.325 [DAT](INFO): direction in vehicle frame: [ 0.321983 forward, 0.945819 starboard, 0.041876 keelward ]
2021-05-18T15:03:46.325Z,1621350226.325 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:03:46.325Z,1621350226.325 [DAT](INFO): publishing direction and range info
2021-05-18T15:03:46.329Z,1621350226.329 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.082112
2021-05-18T15:03:46.336Z,1621350226.336 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:46.337Z,1621350226.337 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.321983 forward, 0.945819 starboard, 0.041876 keelward ]
2021-05-18T15:03:46.337Z,1621350226.337 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:03:46.340Z,1621350226.340 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998781,-0.049295,-0.002718;0.049347,0.998474,0.024769;0.001493,-0.024873,0.999690 ]
2021-05-18T15:03:46.340Z,1621350226.340 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:03:46.341Z,1621350226.341 [lab_range_test:A.](INFO): direction in world frame: [ 0.368326 north, 0.927462 east, 0.064415 down ]
2021-05-18T15:03:46.342Z,1621350226.342 [lab_range_test:A.](INFO): relPosInFSK: [ 0.064397 forward, 0.189164 starboard, 0.008375 keelward ]
2021-05-18T15:03:46.343Z,1621350226.343 [lab_range_test:A.](INFO): relPosInNED: [ 0.073665 north, 0.185492 east, 0.012883 down ]
2021-05-18T15:03:46.344Z,1621350226.344 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:03:46.344Z,1621350226.344 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:03:46.713Z,1621350226.713 [DAT](INFO): DAT read: Rx Time:15:03:20.7100 

2021-05-18T15:03:46.714Z,1621350226.714 [DAT](INFO): received an acoustic signal
2021-05-18T15:03:46.715Z,1621350226.715 [DAT](INFO): DAT read: Bearing 123.6,  14.8 (Local)

2021-05-18T15:03:46.715Z,1621350226.715 [DAT](INFO): Local bearing/azimuth received:
 Bearing 123.6,  14.8 (Local)

2021-05-18T15:03:46.717Z,1621350226.717 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:03:46.722Z,1621350226.722 [DAT](INFO): DAT read: 15:03:20.7100 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512,-0.44, 1.166,-1.166,-1.378,-0.945, PHS= 2.107,-0.177,-0.449, RAW=  84.5, -12.2, CAL=  86.4, -14.8, ROT= 123.6,  14.8

2021-05-18T15:03:46.723Z,1621350226.723 [DAT](INFO): got valid direction response:
 15:03:20.7100 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512,-0.44, 1.166,-1.166,-1.378,-0.945, PHS= 2.107,-0.177,-0.449, RAW=  84.5, -12.2, CAL=  86.4, -14.8, ROT= 123.6,  14.8

2021-05-18T15:03:46.724Z,1621350226.724 [DAT](INFO): #Rx 5: Read range and direction messages.
2021-05-18T15:03:46.725Z,1621350226.725 [DAT](INFO): direction in vehicle frame: [ -0.535032 forward, 0.805288 starboard, 0.255446 keelward ]
2021-05-18T15:03:46.726Z,1621350226.726 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:03:46.726Z,1621350226.726 [DAT](INFO): publishing direction and range info
2021-05-18T15:03:46.757Z,1621350226.757 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:46.758Z,1621350226.758 [lab_range_test:A.](INFO): direction in vehicle frame: [ -0.535032 forward, 0.805288 starboard, 0.255446 keelward ]
2021-05-18T15:03:46.758Z,1621350226.758 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:03:46.764Z,1621350226.764 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998795,-0.048989,-0.002859;0.049045,0.998490,0.024758;0.001642,-0.024868,0.999689 ]
2021-05-18T15:03:46.765Z,1621350226.765 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:03:46.765Z,1621350226.765 [lab_range_test:A.](INFO): direction in world frame: [ -0.494472 north, 0.823930 east, 0.276833 down ]
2021-05-18T15:03:46.766Z,1621350226.766 [lab_range_test:A.](INFO): relPosInFSK: [ -0.107006 forward, 0.161058 starboard, 0.051089 keelward ]
2021-05-18T15:03:46.771Z,1621350226.771 [lab_range_test:A.](INFO): relPosInNED: [ -0.098894 north, 0.164786 east, 0.055367 down ]
2021-05-18T15:03:46.772Z,1621350226.772 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:03:46.772Z,1621350226.772 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:03:47.133Z,1621350227.133 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:47.572Z,1621350227.572 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:47.978Z,1621350227.978 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:48.354Z,1621350228.354 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:48.749Z,1621350228.749 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:49.140Z,1621350229.140 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:49.543Z,1621350229.543 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:49.950Z,1621350229.950 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:50.357Z,1621350230.357 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:50.740Z,1621350230.740 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:51.145Z,1621350231.145 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:51.555Z,1621350231.555 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:51.952Z,1621350231.952 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:51.953Z,1621350231.953 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying...
2021-05-18T15:03:51.953Z,1621350231.953 [lab_range_test:A.](INFO): *** querying DAT ***
2021-05-18T15:03:52.376Z,1621350232.376 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:03:52.376Z,1621350232.376 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:03:52.376Z,1621350232.376 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode.
2021-05-18T15:03:52.377Z,1621350232.377 [DAT](INFO): ****** ping requested ******
2021-05-18T15:03:52.390Z,1621350232.390 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:52.764Z,1621350232.764 [DAT](INFO): DAT read: user:10>

2021-05-18T15:03:52.765Z,1621350232.765 [DAT](INFO): DAT read: Tx time:15:03:27.1303

2021-05-18T15:03:52.765Z,1621350232.765 [DAT](INFO): Ping request sent.
2021-05-18T15:03:52.765Z,1621350232.765 [DAT](INFO): transmitted an acoustic signal
2021-05-18T15:03:52.765Z,1621350232.765 [DAT](INFO): publishing transmit ping time
2021-05-18T15:03:52.766Z,1621350232.766 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000775
2021-05-18T15:03:52.777Z,1621350232.777 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:53.176Z,1621350233.176 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.411195
2021-05-18T15:03:53.189Z,1621350233.189 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:53.558Z,1621350233.558 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.792472
2021-05-18T15:03:53.569Z,1621350233.569 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:53.966Z,1621350233.966 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.200315
2021-05-18T15:03:53.973Z,1621350233.973 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:54.366Z,1621350234.366 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.601140
2021-05-18T15:03:54.381Z,1621350234.381 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:54.774Z,1621350234.774 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.008434
2021-05-18T15:03:54.791Z,1621350234.791 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:55.197Z,1621350235.197 [DAT](INFO): DAT read: Rx Time:15:03:29.2601 

2021-05-18T15:03:55.197Z,1621350235.197 [DAT](INFO): received an acoustic signal
2021-05-18T15:03:55.199Z,1621350235.199 [DAT](INFO): DAT read: Bearing  67.0,  -3.1 (Local)

2021-05-18T15:03:55.199Z,1621350235.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.0,  -3.1 (Local)

2021-05-18T15:03:55.201Z,1621350235.201 [DAT](INFO): DAT read: Range 7 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2021-05-18T15:03:55.210Z,1621350235.210 [DAT](INFO): DAT read: 15:03:29.2601 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 481,-0.20,-2.428,-2.733,-2.453,-2.504, PHS= 0.072,-0.185, 0.036, RAW= 142.6,   6.5, CAL= 143.0,   3.1, ROT=  67.0,  -3.1

2021-05-18T15:03:55.215Z,1621350235.215 [DAT](INFO): got valid direction response:
 15:03:29.2601 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 481,-0.20,-2.428,-2.733,-2.453,-2.504, PHS= 0.072,-0.185, 0.036, RAW= 142.6,   6.5, CAL= 143.0,   3.1, ROT=  67.0,  -3.1

2021-05-18T15:03:55.216Z,1621350235.216 [DAT](INFO): #Rx 1: Read range and direction messages.
2021-05-18T15:03:55.217Z,1621350235.217 [DAT](INFO): direction in vehicle frame: [ 0.390159 forward, 0.919158 starboard, -0.054079 keelward ]
2021-05-18T15:03:55.217Z,1621350235.217 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:03:55.217Z,1621350235.217 [DAT](INFO): publishing direction and range info
2021-05-18T15:03:55.224Z,1621350235.224 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.459008
2021-05-18T15:03:55.276Z,1621350235.276 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:55.277Z,1621350235.277 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.390159 forward, 0.919158 starboard, -0.054079 keelward ]
2021-05-18T15:03:55.277Z,1621350235.277 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:03:55.291Z,1621350235.291 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998808,-0.048732,-0.002765;0.048786,0.998503,0.024749;0.001555,-0.024854,0.999690 ]
2021-05-18T15:03:55.292Z,1621350235.292 [lab_range_test:A.](INFO): rangeToContact_ = 0.500000 m
2021-05-18T15:03:55.293Z,1621350235.293 [lab_range_test:A.](INFO): direction in world frame: [ 0.434452 north, 0.900112 east, -0.032393 down ]
2021-05-18T15:03:55.293Z,1621350235.293 [lab_range_test:A.](INFO): relPosInFSK: [ 0.195080 forward, 0.459579 starboard, -0.027039 keelward ]
2021-05-18T15:03:55.294Z,1621350235.294 [lab_range_test:A.](INFO): relPosInNED: [ 0.217226 north, 0.450056 east, -0.016196 down ]
2021-05-18T15:03:55.294Z,1621350235.294 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:03:55.294Z,1621350235.294 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:03:55.597Z,1621350235.597 [DAT](INFO): DAT read: Rx Time:15:03:29.7600 

2021-05-18T15:03:55.597Z,1621350235.597 [DAT](INFO): received an acoustic signal
2021-05-18T15:03:55.598Z,1621350235.598 [DAT](INFO): DAT read: Bearing  67.5,  -2.5 (Local)

2021-05-18T15:03:55.599Z,1621350235.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.5,  -2.5 (Local)

2021-05-18T15:03:55.601Z,1621350235.601 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:03:55.605Z,1621350235.605 [DAT](INFO): DAT read: 15:03:29.7600 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.08, 3.052, 2.759, 3.027, 2.977, PHS= 0.071,-0.173, 0.035, RAW= 142.2,   5.9, CAL= 142.5,   2.5, ROT=  67.5,  -2.5

2021-05-18T15:03:55.607Z,1621350235.607 [DAT](INFO): got valid direction response:
 15:03:29.7600 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.08, 3.052, 2.759, 3.027, 2.977, PHS= 0.071,-0.173, 0.035, RAW= 142.2,   5.9, CAL= 142.5,   2.5, ROT=  67.5,  -2.5

2021-05-18T15:03:55.607Z,1621350235.607 [DAT](INFO): #Rx 2: Read range and direction messages.
2021-05-18T15:03:55.608Z,1621350235.608 [DAT](INFO): direction in vehicle frame: [ 0.382319 forward, 0.923000 starboard, -0.043619 keelward ]
2021-05-18T15:03:55.609Z,1621350235.609 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:03:55.609Z,1621350235.609 [DAT](INFO): publishing direction and range info
2021-05-18T15:03:55.612Z,1621350235.612 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.846824
2021-05-18T15:03:55.661Z,1621350235.661 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:55.662Z,1621350235.662 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.382319 forward, 0.923000 starboard, -0.043619 keelward ]
2021-05-18T15:03:55.663Z,1621350235.663 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:03:55.665Z,1621350235.665 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998800,-0.048894,-0.002829;0.048949,0.998495,0.024721;0.001616,-0.024829,0.999690 ]
2021-05-18T15:03:55.665Z,1621350235.665 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:03:55.666Z,1621350235.666 [lab_range_test:A.](INFO): direction in world frame: [ 0.426970 north, 0.904001 east, -0.021870 down ]
2021-05-18T15:03:55.666Z,1621350235.666 [lab_range_test:A.](INFO): relPosInFSK: [ 0.114696 forward, 0.276900 starboard, -0.013086 keelward ]
2021-05-18T15:03:55.690Z,1621350235.690 [lab_range_test:A.](INFO): relPosInNED: [ 0.128091 north, 0.271200 east, -0.006561 down ]
2021-05-18T15:03:55.690Z,1621350235.690 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:03:55.690Z,1621350235.690 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:03:56.006Z,1621350236.006 [DAT](INFO): DAT read: Rx Time:15:03:30.2599 

2021-05-18T15:03:56.007Z,1621350236.007 [DAT](INFO): received an acoustic signal
2021-05-18T15:03:56.009Z,1621350236.009 [DAT](INFO): DAT read: Bearing  69.0,  -0.0 (Local)

2021-05-18T15:03:56.010Z,1621350236.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.0,  -0.0 (Local)

2021-05-18T15:03:56.012Z,1621350236.012 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:03:56.017Z,1621350236.017 [DAT](INFO): DAT read: 15:03:30.2599 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.02, 2.880, 2.616, 2.853, 2.802, PHS= 0.074,-0.142, 0.036, RAW= 140.5,   3.2, CAL= 141.0,   0.0, ROT=  69.0,  -0.0

2021-05-18T15:03:56.018Z,1621350236.018 [DAT](INFO): got valid direction response:
 15:03:30.2599 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.02, 2.880, 2.616, 2.853, 2.802, PHS= 0.074,-0.142, 0.036, RAW= 140.5,   3.2, CAL= 141.0,   0.0, ROT=  69.0,  -0.0

2021-05-18T15:03:56.019Z,1621350236.019 [DAT](INFO): #Rx 3: Read range and direction messages.
2021-05-18T15:03:56.024Z,1621350236.024 [DAT](INFO): direction in vehicle frame: [ 0.358368 forward, 0.933580 starboard, -0.000000 keelward ]
2021-05-18T15:03:56.024Z,1621350236.024 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:03:56.025Z,1621350236.025 [DAT](INFO): publishing direction and range info
2021-05-18T15:03:56.032Z,1621350236.032 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.266595
2021-05-18T15:03:56.044Z,1621350236.044 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:56.045Z,1621350236.045 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.358368 forward, 0.933580 starboard, -0.000000 keelward ]
2021-05-18T15:03:56.045Z,1621350236.045 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:03:56.052Z,1621350236.052 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998831,-0.048249,-0.002777;0.048303,0.998525,0.024810;0.001575,-0.024915,0.999688 ]
2021-05-18T15:03:56.052Z,1621350236.052 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:03:56.053Z,1621350236.053 [lab_range_test:A.](INFO): direction in world frame: [ 0.403044 north, 0.914912 east, 0.022167 down ]
2021-05-18T15:03:56.054Z,1621350236.054 [lab_range_test:A.](INFO): relPosInFSK: [ 0.071674 forward, 0.186716 starboard, -0.000000 keelward ]
2021-05-18T15:03:56.054Z,1621350236.054 [lab_range_test:A.](INFO): relPosInNED: [ 0.080609 north, 0.182982 east, 0.004433 down ]
2021-05-18T15:03:56.055Z,1621350236.055 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:03:56.059Z,1621350236.059 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:03:56.386Z,1621350236.386 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.621065
2021-05-18T15:03:56.402Z,1621350236.402 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:56.819Z,1621350236.819 [DAT](INFO): DAT read: Rx Time:15:03:30.7600 

2021-05-18T15:03:56.820Z,1621350236.820 [DAT](INFO): received an acoustic signal
2021-05-18T15:03:56.821Z,1621350236.821 [DAT](INFO): DAT read: Bearing  67.6,  -5.8 (Local)

2021-05-18T15:03:56.821Z,1621350236.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.6,  -5.8 (Local)

2021-05-18T15:03:56.823Z,1621350236.823 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:03:56.844Z,1621350236.844 [DAT](INFO): DAT read: 15:03:30.7600 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.61,-0.426,-0.885,-0.477,-0.530, PHS= 0.100,-0.311, 0.038, RAW= 142.0,   9.1, CAL= 142.4,   5.8, ROT=  67.6,  -5.8

2021-05-18T15:03:56.845Z,1621350236.845 [DAT](INFO): got valid direction response:
 15:03:30.7600 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.61,-0.426,-0.885,-0.477,-0.530, PHS= 0.100,-0.311, 0.038, RAW= 142.0,   9.1, CAL= 142.4,   5.8, ROT=  67.6,  -5.8

2021-05-18T15:03:56.846Z,1621350236.846 [DAT](INFO): #Rx 4: Read range and direction messages.
2021-05-18T15:03:56.847Z,1621350236.847 [DAT](INFO): direction in vehicle frame: [ 0.379120 forward, 0.919813 starboard, -0.101056 keelward ]
2021-05-18T15:03:56.847Z,1621350236.847 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:03:56.847Z,1621350236.847 [DAT](INFO): publishing direction and range info
2021-05-18T15:03:56.850Z,1621350236.850 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.085078
2021-05-18T15:03:56.870Z,1621350236.870 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:56.883Z,1621350236.883 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.379120 forward, 0.919813 starboard, -0.101056 keelward ]
2021-05-18T15:03:56.883Z,1621350236.883 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:03:56.886Z,1621350236.886 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998779,-0.049327,-0.002804;0.049382,0.998474,0.024706;0.001581,-0.024814,0.999691 ]
2021-05-18T15:03:56.886Z,1621350236.886 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:03:56.899Z,1621350236.899 [lab_range_test:A.](INFO): direction in world frame: [ 0.423919 north, 0.902216 east, -0.079364 down ]
2021-05-18T15:03:56.900Z,1621350236.900 [lab_range_test:A.](INFO): relPosInFSK: [ 0.113736 forward, 0.275944 starboard, -0.030317 keelward ]
2021-05-18T15:03:56.900Z,1621350236.900 [lab_range_test:A.](INFO): relPosInNED: [ 0.127176 north, 0.270665 east, -0.023809 down ]
2021-05-18T15:03:56.901Z,1621350236.901 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:03:56.901Z,1621350236.901 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:03:57.213Z,1621350237.213 [DAT](INFO): DAT read: Rx Time:15:03:31.2599 

2021-05-18T15:03:57.213Z,1621350237.213 [DAT](INFO): received an acoustic signal
2021-05-18T15:03:57.215Z,1621350237.215 [DAT](INFO): DAT read: Bearing  71.1,   2.7 (Local)

2021-05-18T15:03:57.215Z,1621350237.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.1,   2.7 (Local)

2021-05-18T15:03:57.217Z,1621350237.217 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:03:57.243Z,1621350237.243 [DAT](INFO): DAT read: 15:03:31.2599 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.30,-2.536,-2.775,-2.566,-2.616, PHS= 0.076,-0.115, 0.035, RAW= 138.1,   0.4, CAL= 138.9,  -2.7, ROT=  71.1,   2.7

2021-05-18T15:03:57.244Z,1621350237.244 [DAT](INFO): got valid direction response:
 15:03:31.2599 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.30,-2.536,-2.775,-2.566,-2.616, PHS= 0.076,-0.115, 0.035, RAW= 138.1,   0.4, CAL= 138.9,  -2.7, ROT=  71.1,   2.7

2021-05-18T15:03:57.245Z,1621350237.245 [DAT](INFO): #Rx 5: Read range and direction messages.
2021-05-18T15:03:57.246Z,1621350237.246 [DAT](INFO): direction in vehicle frame: [ 0.323558 forward, 0.945035 starboard, 0.047106 keelward ]
2021-05-18T15:03:57.246Z,1621350237.246 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:03:57.246Z,1621350237.246 [DAT](INFO): publishing direction and range info
2021-05-18T15:03:57.268Z,1621350237.268 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:57.269Z,1621350237.269 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.323558 forward, 0.945035 starboard, 0.047106 keelward ]
2021-05-18T15:03:57.270Z,1621350237.270 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:03:57.277Z,1621350237.277 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998765,-0.049598,-0.002782;0.049652,0.998461,0.024714;0.001552,-0.024822,0.999691 ]
2021-05-18T15:03:57.277Z,1621350237.277 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:03:57.278Z,1621350237.278 [lab_range_test:A.](INFO): direction in world frame: [ 0.370155 north, 0.926363 east, 0.069547 down ]
2021-05-18T15:03:57.278Z,1621350237.278 [lab_range_test:A.](INFO): relPosInFSK: [ 0.064712 forward, 0.189007 starboard, 0.009421 keelward ]
2021-05-18T15:03:57.284Z,1621350237.284 [lab_range_test:A.](INFO): relPosInNED: [ 0.074031 north, 0.185273 east, 0.013909 down ]
2021-05-18T15:03:57.284Z,1621350237.284 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:03:57.284Z,1621350237.284 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:03:57.679Z,1621350237.679 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:58.027Z,1621350238.027 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2021-05-18T15:03:58.028Z,1621350238.028 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-05-18T15:03:58.029Z,1621350238.029 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:58.049Z,1621350238.049 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-05-18T15:03:58.421Z,1621350238.421 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:58.488Z,1621350238.488 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-05-18T15:03:58.488Z,1621350238.488 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2021-05-18T15:03:58.837Z,1621350238.837 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:59.244Z,1621350239.244 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:03:59.653Z,1621350239.653 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:00.046Z,1621350240.046 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:00.497Z,1621350240.497 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:00.855Z,1621350240.855 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:01.313Z,1621350241.313 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:01.697Z,1621350241.697 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:02.069Z,1621350242.069 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:02.489Z,1621350242.489 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:02.490Z,1621350242.490 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying...
2021-05-18T15:04:02.490Z,1621350242.490 [lab_range_test:A.](INFO): *** querying DAT ***
2021-05-18T15:04:02.868Z,1621350242.868 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:04:02.868Z,1621350242.868 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:04:02.869Z,1621350242.869 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode.
2021-05-18T15:04:02.870Z,1621350242.870 [DAT](INFO): ****** ping requested ******
2021-05-18T15:04:02.877Z,1621350242.877 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:03.268Z,1621350243.268 [DAT](INFO): DAT read: user:11>

2021-05-18T15:04:03.269Z,1621350243.269 [DAT](INFO): DAT read: Tx time:15:03:37.5802

2021-05-18T15:04:03.269Z,1621350243.269 [DAT](INFO): Ping request sent.
2021-05-18T15:04:03.269Z,1621350243.269 [DAT](INFO): transmitted an acoustic signal
2021-05-18T15:04:03.270Z,1621350243.270 [DAT](INFO): publishing transmit ping time
2021-05-18T15:04:03.270Z,1621350243.270 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000879
2021-05-18T15:04:03.309Z,1621350243.309 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:03.658Z,1621350243.658 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.388346
2021-05-18T15:04:03.673Z,1621350243.673 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:04.066Z,1621350244.066 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.796616
2021-05-18T15:04:04.088Z,1621350244.088 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:04.471Z,1621350244.471 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.201960
2021-05-18T15:04:04.494Z,1621350244.494 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:04.874Z,1621350244.874 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.604381
2021-05-18T15:04:04.881Z,1621350244.881 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:05.288Z,1621350245.288 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.019073
2021-05-18T15:04:05.295Z,1621350245.295 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:05.697Z,1621350245.697 [DAT](INFO): DAT read: Rx Time:15:03:39.7100 

2021-05-18T15:04:05.697Z,1621350245.697 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:05.698Z,1621350245.698 [DAT](INFO): DAT read: Bearing  66.6,  -3.3 (Local)

2021-05-18T15:04:05.699Z,1621350245.699 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.6,  -3.3 (Local)

2021-05-18T15:04:05.701Z,1621350245.701 [DAT](INFO): DAT read: Range 7 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2021-05-18T15:04:05.705Z,1621350245.705 [DAT](INFO): DAT read: 15:03:39.7100 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 481,-0.31,-0.694,-1.001,-0.717,-0.768, PHS= 0.070,-0.189, 0.037, RAW= 143.1,   6.8, CAL= 143.4,   3.3, ROT=  66.6,  -3.3

2021-05-18T15:04:05.707Z,1621350245.707 [DAT](INFO): got valid direction response:
 15:03:39.7100 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 481,-0.31,-0.694,-1.001,-0.717,-0.768, PHS= 0.070,-0.189, 0.037, RAW= 143.1,   6.8, CAL= 143.4,   3.3, ROT=  66.6,  -3.3

2021-05-18T15:04:05.707Z,1621350245.707 [DAT](INFO): #Rx 1: Read range and direction messages.
2021-05-18T15:04:05.708Z,1621350245.708 [DAT](INFO): direction in vehicle frame: [ 0.396489 forward, 0.916233 starboard, -0.057564 keelward ]
2021-05-18T15:04:05.708Z,1621350245.708 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:05.709Z,1621350245.709 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:05.712Z,1621350245.712 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.442430
2021-05-18T15:04:05.719Z,1621350245.719 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:05.720Z,1621350245.720 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.396489 forward, 0.916233 starboard, -0.057564 keelward ]
2021-05-18T15:04:05.720Z,1621350245.720 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:05.722Z,1621350245.722 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998868,-0.047484,-0.002804;0.047539,0.998560,0.024858;0.001620,-0.024963,0.999687 ]
2021-05-18T15:04:05.723Z,1621350245.723 [lab_range_test:A.](INFO): rangeToContact_ = 0.500000 m
2021-05-18T15:04:05.724Z,1621350245.724 [lab_range_test:A.](INFO): direction in world frame: [ 0.439504 north, 0.897524 east, -0.035882 down ]
2021-05-18T15:04:05.724Z,1621350245.724 [lab_range_test:A.](INFO): relPosInFSK: [ 0.198245 forward, 0.458116 starboard, -0.028782 keelward ]
2021-05-18T15:04:05.725Z,1621350245.725 [lab_range_test:A.](INFO): relPosInNED: [ 0.219752 north, 0.448762 east, -0.017941 down ]
2021-05-18T15:04:05.726Z,1621350245.726 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:05.726Z,1621350245.726 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:06.097Z,1621350246.097 [DAT](INFO): DAT read: Rx Time:15:03:40.2099 

2021-05-18T15:04:06.097Z,1621350246.097 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:06.098Z,1621350246.098 [DAT](INFO): DAT read: Bearing  66.0,  -3.9 (Local)

2021-05-18T15:04:06.099Z,1621350246.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.0,  -3.9 (Local)

2021-05-18T15:04:06.101Z,1621350246.101 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:04:06.126Z,1621350246.126 [DAT](INFO): DAT read: 15:03:40.2099 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.16,-2.153,-2.461,-2.173,-2.224, PHS= 0.067,-0.193, 0.036, RAW= 143.6,   7.4, CAL= 144.0,   3.9, ROT=  66.0,  -3.9

2021-05-18T15:04:06.127Z,1621350246.127 [DAT](INFO): got valid direction response:
 15:03:40.2099 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.16,-2.153,-2.461,-2.173,-2.224, PHS= 0.067,-0.193, 0.036, RAW= 143.6,   7.4, CAL= 144.0,   3.9, ROT=  66.0,  -3.9

2021-05-18T15:04:06.128Z,1621350246.128 [DAT](INFO): #Rx 2: Read range and direction messages.
2021-05-18T15:04:06.128Z,1621350246.128 [DAT](INFO): direction in vehicle frame: [ 0.405795 forward, 0.911430 starboard, -0.068015 keelward ]
2021-05-18T15:04:06.129Z,1621350246.129 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:06.129Z,1621350246.129 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:06.132Z,1621350246.132 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.862800
2021-05-18T15:04:06.144Z,1621350246.144 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:06.145Z,1621350246.145 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.405795 forward, 0.911430 starboard, -0.068015 keelward ]
2021-05-18T15:04:06.145Z,1621350246.145 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:06.152Z,1621350246.152 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998803,-0.048829,-0.002722;0.048881,0.998497,0.024771;0.001508,-0.024875,0.999689 ]
2021-05-18T15:04:06.152Z,1621350246.152 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:04:06.153Z,1621350246.153 [lab_range_test:A.](INFO): direction in world frame: [ 0.449759 north, 0.891938 east, -0.046521 down ]
2021-05-18T15:04:06.153Z,1621350246.153 [lab_range_test:A.](INFO): relPosInFSK: [ 0.121738 forward, 0.273429 starboard, -0.020405 keelward ]
2021-05-18T15:04:06.154Z,1621350246.154 [lab_range_test:A.](INFO): relPosInNED: [ 0.134928 north, 0.267581 east, -0.013956 down ]
2021-05-18T15:04:06.154Z,1621350246.154 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:06.155Z,1621350246.155 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:06.490Z,1621350246.490 [DAT](INFO): DAT read: Rx Time:15:03:40.7099 

2021-05-18T15:04:06.490Z,1621350246.490 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:06.492Z,1621350246.492 [DAT](INFO): DAT read: Bearing  66.7,  -3.5 (Local)

2021-05-18T15:04:06.492Z,1621350246.492 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.7,  -3.5 (Local)

2021-05-18T15:04:06.494Z,1621350246.494 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:04:06.498Z,1621350246.498 [DAT](INFO): DAT read: 15:03:40.7099 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.04,-1.788,-2.091,-1.811,-1.861, PHS= 0.069,-0.186, 0.035, RAW= 143.0,   6.9, CAL= 143.3,   3.5, ROT=  66.7,  -3.5

2021-05-18T15:04:06.500Z,1621350246.500 [DAT](INFO): got valid direction response:
 15:03:40.7099 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.04,-1.788,-2.091,-1.811,-1.861, PHS= 0.069,-0.186, 0.035, RAW= 143.0,   6.9, CAL= 143.3,   3.5, ROT=  66.7,  -3.5

2021-05-18T15:04:06.500Z,1621350246.500 [DAT](INFO): #Rx 3: Read range and direction messages.
2021-05-18T15:04:06.501Z,1621350246.501 [DAT](INFO): direction in vehicle frame: [ 0.394808 forward, 0.916733 starboard, -0.061049 keelward ]
2021-05-18T15:04:06.502Z,1621350246.502 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:06.502Z,1621350246.502 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:06.506Z,1621350246.506 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.236415
2021-05-18T15:04:06.580Z,1621350246.580 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:06.581Z,1621350246.581 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.394808 forward, 0.916733 starboard, -0.061049 keelward ]
2021-05-18T15:04:06.582Z,1621350246.582 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:06.584Z,1621350246.584 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998866,-0.047543,-0.002663;0.047595,0.998556,0.024927;0.001474,-0.025025,0.999686 ]
2021-05-18T15:04:06.584Z,1621350246.584 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:04:06.585Z,1621350246.585 [lab_range_test:A.](INFO): direction in world frame: [ 0.437902 north, 0.898167 east, -0.039229 down ]
2021-05-18T15:04:06.586Z,1621350246.586 [lab_range_test:A.](INFO): relPosInFSK: [ 0.118442 forward, 0.275020 starboard, -0.018315 keelward ]
2021-05-18T15:04:06.586Z,1621350246.586 [lab_range_test:A.](INFO): relPosInNED: [ 0.131370 north, 0.269450 east, -0.011769 down ]
2021-05-18T15:04:06.587Z,1621350246.587 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:06.587Z,1621350246.587 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:06.890Z,1621350246.890 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.620626
2021-05-18T15:04:06.934Z,1621350246.934 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:07.295Z,1621350247.295 [DAT](INFO): DAT read: Rx Time:15:03:41.2098 

2021-05-18T15:04:07.295Z,1621350247.295 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:07.297Z,1621350247.297 [DAT](INFO): DAT read: Bearing  67.7,  -1.6 (Local)

2021-05-18T15:04:07.297Z,1621350247.297 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.7,  -1.6 (Local)

2021-05-18T15:04:07.299Z,1621350247.299 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:04:07.304Z,1621350247.304 [DAT](INFO): DAT read: 15:03:41.2098 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.07,-1.881,-2.143,-1.902,-1.951, PHS= 0.066,-0.148, 0.033, RAW= 141.9,   4.9, CAL= 142.3,   1.6, ROT=  67.7,  -1.6

2021-05-18T15:04:07.305Z,1621350247.305 [DAT](INFO): got valid direction response:
 15:03:41.2098 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.07,-1.881,-2.143,-1.902,-1.951, PHS= 0.066,-0.148, 0.033, RAW= 141.9,   4.9, CAL= 142.3,   1.6, ROT=  67.7,  -1.6

2021-05-18T15:04:07.306Z,1621350247.306 [DAT](INFO): #Rx 4: Read range and direction messages.
2021-05-18T15:04:07.307Z,1621350247.307 [DAT](INFO): direction in vehicle frame: [ 0.379308 forward, 0.924849 starboard, -0.027922 keelward ]
2021-05-18T15:04:07.307Z,1621350247.307 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:07.307Z,1621350247.307 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:07.311Z,1621350247.311 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.041333
2021-05-18T15:04:07.347Z,1621350247.347 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:07.348Z,1621350247.348 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.379308 forward, 0.924849 starboard, -0.027922 keelward ]
2021-05-18T15:04:07.349Z,1621350247.349 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:07.351Z,1621350247.351 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998877,-0.047286,-0.002843;0.047342,0.998569,0.024878;0.001663,-0.024985,0.999686 ]
2021-05-18T15:04:07.355Z,1621350247.355 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:04:07.356Z,1621350247.356 [lab_range_test:A.](INFO): direction in world frame: [ 0.422621 north, 0.906287 east, -0.005983 down ]
2021-05-18T15:04:07.357Z,1621350247.357 [lab_range_test:A.](INFO): relPosInFSK: [ 0.075862 forward, 0.184970 starboard, -0.005584 keelward ]
2021-05-18T15:04:07.358Z,1621350247.358 [lab_range_test:A.](INFO): relPosInNED: [ 0.084524 north, 0.181257 east, -0.001197 down ]
2021-05-18T15:04:07.358Z,1621350247.358 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:07.358Z,1621350247.358 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:07.703Z,1621350247.703 [DAT](INFO): DAT read: Rx Time:15:03:41.7099 

2021-05-18T15:04:07.703Z,1621350247.703 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:07.704Z,1621350247.704 [DAT](INFO): DAT read: Bearing  67.0,  -6.3 (Local)

2021-05-18T15:04:07.705Z,1621350247.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.0,  -6.3 (Local)

2021-05-18T15:04:07.707Z,1621350247.707 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:04:07.712Z,1621350247.712 [DAT](INFO): DAT read: 15:03:41.7099 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.57, 1.742, 1.310, 1.699, 1.650, PHS= 0.089,-0.296, 0.035, RAW= 142.5,   9.6, CAL= 143.0,   6.3, ROT=  67.0,  -6.3

2021-05-18T15:04:07.713Z,1621350247.713 [DAT](INFO): got valid direction response:
 15:03:41.7099 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.57, 1.742, 1.310, 1.699, 1.650, PHS= 0.089,-0.296, 0.035, RAW= 142.5,   9.6, CAL= 143.0,   6.3, ROT=  67.0,  -6.3

2021-05-18T15:04:07.714Z,1621350247.714 [DAT](INFO): #Rx 5: Read range and direction messages.
2021-05-18T15:04:07.715Z,1621350247.715 [DAT](INFO): direction in vehicle frame: [ 0.388371 forward, 0.914946 starboard, -0.109734 keelward ]
2021-05-18T15:04:07.715Z,1621350247.715 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:07.715Z,1621350247.715 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:07.726Z,1621350247.726 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:07.727Z,1621350247.727 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.388371 forward, 0.914946 starboard, -0.109734 keelward ]
2021-05-18T15:04:07.727Z,1621350247.727 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:07.729Z,1621350247.729 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998898,-0.046857,-0.002685;0.046910,0.998587,0.024961;0.001512,-0.025059,0.999685 ]
2021-05-18T15:04:07.730Z,1621350247.730 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:04:07.730Z,1621350247.730 [lab_range_test:A.](INFO): direction in world frame: [ 0.430698 north, 0.898205 east, -0.087905 down ]
2021-05-18T15:04:07.731Z,1621350247.731 [lab_range_test:A.](INFO): relPosInFSK: [ 0.116511 forward, 0.274484 starboard, -0.032920 keelward ]
2021-05-18T15:04:07.732Z,1621350247.732 [lab_range_test:A.](INFO): relPosInNED: [ 0.129209 north, 0.269462 east, -0.026371 down ]
2021-05-18T15:04:07.732Z,1621350247.732 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:07.732Z,1621350247.732 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:08.121Z,1621350248.121 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:08.531Z,1621350248.531 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:08.937Z,1621350248.937 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:09.353Z,1621350249.353 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:09.728Z,1621350249.728 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:10.138Z,1621350250.138 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:10.544Z,1621350250.544 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:10.941Z,1621350250.941 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:11.375Z,1621350251.375 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:11.769Z,1621350251.769 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:12.173Z,1621350252.173 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:12.570Z,1621350252.570 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:12.964Z,1621350252.964 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:12.965Z,1621350252.965 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying...
2021-05-18T15:04:12.965Z,1621350252.965 [lab_range_test:A.](INFO): *** querying DAT ***
2021-05-18T15:04:13.416Z,1621350253.416 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:04:13.416Z,1621350253.416 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:04:13.417Z,1621350253.417 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode.
2021-05-18T15:04:13.418Z,1621350253.418 [DAT](INFO): ****** ping requested ******
2021-05-18T15:04:13.426Z,1621350253.426 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:13.785Z,1621350253.785 [DAT](INFO): DAT read: user:12>

2021-05-18T15:04:13.786Z,1621350253.786 [DAT](INFO): DAT read: Tx time:15:03:48.1801

2021-05-18T15:04:13.786Z,1621350253.786 [DAT](INFO): Ping request sent.
2021-05-18T15:04:13.786Z,1621350253.786 [DAT](INFO): transmitted an acoustic signal
2021-05-18T15:04:13.787Z,1621350253.787 [DAT](INFO): publishing transmit ping time
2021-05-18T15:04:13.788Z,1621350253.788 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.001137
2021-05-18T15:04:13.818Z,1621350253.818 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:14.192Z,1621350254.192 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.405829
2021-05-18T15:04:14.200Z,1621350254.200 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:14.654Z,1621350254.654 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.867327
2021-05-18T15:04:14.670Z,1621350254.670 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:15.008Z,1621350255.008 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.221892
2021-05-18T15:04:15.015Z,1621350255.015 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:15.400Z,1621350255.400 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.613676
2021-05-18T15:04:15.408Z,1621350255.408 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:15.798Z,1621350255.798 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.011021
2021-05-18T15:04:15.805Z,1621350255.805 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:16.201Z,1621350256.201 [DAT](INFO): DAT read: Rx Time:15:03:50.3098 

2021-05-18T15:04:16.201Z,1621350256.201 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:16.202Z,1621350256.202 [DAT](INFO): DAT read: Bearing  66.6,  -3.4 (Local)

2021-05-18T15:04:16.203Z,1621350256.203 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.6,  -3.4 (Local)

2021-05-18T15:04:16.205Z,1621350256.205 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:04:16.209Z,1621350256.209 [DAT](INFO): DAT read: 15:03:50.3098 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 465,-0.43, 0.755, 0.442, 0.731, 0.679, PHS= 0.072,-0.193, 0.037, RAW= 143.0,   6.9, CAL= 143.4,   3.4, ROT=  66.6,  -3.4

2021-05-18T15:04:16.210Z,1621350256.210 [DAT](INFO): got valid direction response:
 15:03:50.3098 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 465,-0.43, 0.755, 0.442, 0.731, 0.679, PHS= 0.072,-0.193, 0.037, RAW= 143.0,   6.9, CAL= 143.4,   3.4, ROT=  66.6,  -3.4

2021-05-18T15:04:16.211Z,1621350256.211 [DAT](INFO): #Rx 1: Read range and direction messages.
2021-05-18T15:04:16.212Z,1621350256.212 [DAT](INFO): direction in vehicle frame: [ 0.396449 forward, 0.916139 starboard, -0.059306 keelward ]
2021-05-18T15:04:16.212Z,1621350256.212 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:16.213Z,1621350256.213 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:16.216Z,1621350256.216 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.429138
2021-05-18T15:04:16.259Z,1621350256.259 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:16.260Z,1621350256.260 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.396449 forward, 0.916139 starboard, -0.059306 keelward ]
2021-05-18T15:04:16.260Z,1621350256.260 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:16.262Z,1621350256.262 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998784,-0.049225,-0.002706;0.049277,0.998479,0.024734;0.001484,-0.024837,0.999690 ]
2021-05-18T15:04:16.263Z,1621350256.263 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:04:16.264Z,1621350256.264 [lab_range_test:A.](INFO): direction in world frame: [ 0.441023 north, 0.896704 east, -0.037701 down ]
2021-05-18T15:04:16.264Z,1621350256.264 [lab_range_test:A.](INFO): relPosInFSK: [ 0.118935 forward, 0.274842 starboard, -0.017792 keelward ]
2021-05-18T15:04:16.283Z,1621350256.283 [lab_range_test:A.](INFO): relPosInNED: [ 0.132307 north, 0.269011 east, -0.011310 down ]
2021-05-18T15:04:16.283Z,1621350256.283 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:16.283Z,1621350256.283 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:16.601Z,1621350256.601 [DAT](INFO): DAT read: Rx Time:15:03:50.8098 

2021-05-18T15:04:16.601Z,1621350256.601 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:16.602Z,1621350256.602 [DAT](INFO): DAT read: Bearing  67.1,  -3.9 (Local)

2021-05-18T15:04:16.603Z,1621350256.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.1,  -3.9 (Local)

2021-05-18T15:04:16.605Z,1621350256.605 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:04:16.609Z,1621350256.609 [DAT](INFO): DAT read: 15:03:50.8098 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.20,-0.679,-1.003,-0.707,-0.757, PHS= 0.074,-0.202, 0.035, RAW= 142.5,   7.2, CAL= 142.9,   3.9, ROT=  67.1,  -3.9

2021-05-18T15:04:16.611Z,1621350256.611 [DAT](INFO): got valid direction response:
 15:03:50.8098 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.20,-0.679,-1.003,-0.707,-0.757, PHS= 0.074,-0.202, 0.035, RAW= 142.5,   7.2, CAL= 142.9,   3.9, ROT=  67.1,  -3.9

2021-05-18T15:04:16.611Z,1621350256.611 [DAT](INFO): #Rx 2: Read range and direction messages.
2021-05-18T15:04:16.612Z,1621350256.612 [DAT](INFO): direction in vehicle frame: [ 0.388223 forward, 0.919052 starboard, -0.068015 keelward ]
2021-05-18T15:04:16.613Z,1621350256.613 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:16.613Z,1621350256.613 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:16.616Z,1621350256.616 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.829483
2021-05-18T15:04:16.623Z,1621350256.623 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:16.624Z,1621350256.624 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.388223 forward, 0.919052 starboard, -0.068015 keelward ]
2021-05-18T15:04:16.625Z,1621350256.625 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:16.627Z,1621350256.627 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998817,-0.048556,-0.002729;0.048609,0.998510,0.024796;0.001521,-0.024900,0.999689 ]
2021-05-18T15:04:16.627Z,1621350256.627 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:04:16.628Z,1621350256.628 [lab_range_test:A.](INFO): direction in world frame: [ 0.432334 north, 0.900526 east, -0.046265 down ]
2021-05-18T15:04:16.629Z,1621350256.629 [lab_range_test:A.](INFO): relPosInFSK: [ 0.116467 forward, 0.275716 starboard, -0.020405 keelward ]
2021-05-18T15:04:16.629Z,1621350256.629 [lab_range_test:A.](INFO): relPosInNED: [ 0.129700 north, 0.270158 east, -0.013879 down ]
2021-05-18T15:04:16.630Z,1621350256.630 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:16.630Z,1621350256.630 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:17.000Z,1621350257.000 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=3.213947
2021-05-18T15:04:17.054Z,1621350257.054 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:17.399Z,1621350257.399 [DAT](INFO): DAT read: Rx Time:15:03:51.3097 

2021-05-18T15:04:17.399Z,1621350257.399 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:17.400Z,1621350257.400 [DAT](INFO): DAT read: Bearing  65.8,  -4.2 (Local)

2021-05-18T15:04:17.401Z,1621350257.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.8,  -4.2 (Local)

2021-05-18T15:04:17.403Z,1621350257.403 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:04:17.408Z,1621350257.408 [DAT](INFO): DAT read: 15:03:51.3097 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.09,-1.440,-1.744,-1.459,-1.508, PHS= 0.064,-0.191, 0.035, RAW= 143.9,   7.7, CAL= 144.2,   4.2, ROT=  65.8,  -4.2

2021-05-18T15:04:17.409Z,1621350257.409 [DAT](INFO): got valid direction response:
 15:03:51.3097 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.09,-1.440,-1.744,-1.459,-1.508, PHS= 0.064,-0.191, 0.035, RAW= 143.9,   7.7, CAL= 144.2,   4.2, ROT=  65.8,  -4.2

2021-05-18T15:04:17.410Z,1621350257.410 [DAT](INFO): #Rx 3: Read range and direction messages.
2021-05-18T15:04:17.411Z,1621350257.411 [DAT](INFO): direction in vehicle frame: [ 0.408822 forward, 0.909671 starboard, -0.073238 keelward ]
2021-05-18T15:04:17.411Z,1621350257.411 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:17.411Z,1621350257.411 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:17.414Z,1621350257.414 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.627782
2021-05-18T15:04:17.442Z,1621350257.442 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:17.449Z,1621350257.449 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.408822 forward, 0.909671 starboard, -0.073238 keelward ]
2021-05-18T15:04:17.449Z,1621350257.449 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:17.452Z,1621350257.452 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998806,-0.048775,-0.002638;0.048826,0.998498,0.024839;0.001422,-0.024938,0.999688 ]
2021-05-18T15:04:17.452Z,1621350257.452 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:04:17.453Z,1621350257.453 [lab_range_test:A.](INFO): direction in world frame: [ 0.452645 north, 0.890191 east, -0.051698 down ]
2021-05-18T15:04:17.454Z,1621350257.454 [lab_range_test:A.](INFO): relPosInFSK: [ 0.081764 forward, 0.181934 starboard, -0.014648 keelward ]
2021-05-18T15:04:17.454Z,1621350257.454 [lab_range_test:A.](INFO): relPosInNED: [ 0.090529 north, 0.178038 east, -0.010340 down ]
2021-05-18T15:04:17.455Z,1621350257.455 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:17.474Z,1621350257.474 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:17.798Z,1621350257.798 [DAT](INFO): DAT read: Rx Time:15:03:51.8098 

2021-05-18T15:04:17.798Z,1621350257.798 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:17.800Z,1621350257.800 [DAT](INFO): DAT read: Bearing  74.5,  -4.8 (Local)

2021-05-18T15:04:17.800Z,1621350257.800 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.5,  -4.8 (Local)

2021-05-18T15:04:17.802Z,1621350257.802 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:04:17.807Z,1621350257.807 [DAT](INFO): DAT read: 15:03:51.8098 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.83,-1.765,-2.581,-1.968,-2.010, PHS= 0.241,-0.527, 0.027, RAW= 134.4,   7.6, CAL= 135.5,   4.8, ROT=  74.5,  -4.8

2021-05-18T15:04:17.808Z,1621350257.808 [DAT](INFO): got valid direction response:
 15:03:51.8098 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.83,-1.765,-2.581,-1.968,-2.010, PHS= 0.241,-0.527, 0.027, RAW= 134.4,   7.6, CAL= 135.5,   4.8, ROT=  74.5,  -4.8

2021-05-18T15:04:17.809Z,1621350257.809 [DAT](INFO): #Rx 4: Read range and direction messages.
2021-05-18T15:04:17.810Z,1621350257.810 [DAT](INFO): direction in vehicle frame: [ 0.266301 forward, 0.960251 starboard, -0.083678 keelward ]
2021-05-18T15:04:17.810Z,1621350257.810 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:17.810Z,1621350257.810 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:17.829Z,1621350257.829 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.042872
2021-05-18T15:04:17.854Z,1621350257.854 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:17.857Z,1621350257.857 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.266301 forward, 0.960251 starboard, -0.083678 keelward ]
2021-05-18T15:04:17.858Z,1621350257.858 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:17.880Z,1621350257.880 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998767,-0.049560,-0.002851;0.049615,0.998463,0.024686;0.001624,-0.024797,0.999691 ]
2021-05-18T15:04:17.880Z,1621350257.880 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:04:17.881Z,1621350257.881 [lab_range_test:A.](INFO): direction in world frame: [ 0.313480 north, 0.947652 east, -0.060706 down ]
2021-05-18T15:04:17.882Z,1621350257.882 [lab_range_test:A.](INFO): relPosInFSK: [ 0.079890 forward, 0.288075 starboard, -0.025103 keelward ]
2021-05-18T15:04:17.882Z,1621350257.882 [lab_range_test:A.](INFO): relPosInNED: [ 0.094044 north, 0.284296 east, -0.018212 down ]
2021-05-18T15:04:17.887Z,1621350257.887 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:17.887Z,1621350257.887 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:18.229Z,1621350258.229 [DAT](INFO): DAT read: Rx Time:15:03:52.3097 

2021-05-18T15:04:18.229Z,1621350258.229 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:18.231Z,1621350258.231 [DAT](INFO): DAT read: Bearing  67.8,  -1.5 (Local)

2021-05-18T15:04:18.231Z,1621350258.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.8,  -1.5 (Local)

2021-05-18T15:04:18.233Z,1621350258.233 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:04:18.246Z,1621350258.246 [DAT](INFO): DAT read: 15:03:52.3097 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.15, 0.071,-0.188, 0.049, 0.001, PHS= 0.065,-0.145, 0.033, RAW= 141.9,   4.8, CAL= 142.2,   1.5, ROT=  67.8,  -1.5

2021-05-18T15:04:18.256Z,1621350258.256 [DAT](INFO): got valid direction response:
 15:03:52.3097 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.15, 0.071,-0.188, 0.049, 0.001, PHS= 0.065,-0.145, 0.033, RAW= 141.9,   4.8, CAL= 142.2,   1.5, ROT=  67.8,  -1.5

2021-05-18T15:04:18.256Z,1621350258.256 [DAT](INFO): #Rx 5: Read range and direction messages.
2021-05-18T15:04:18.257Z,1621350258.257 [DAT](INFO): direction in vehicle frame: [ 0.377711 forward, 0.925553 starboard, -0.026177 keelward ]
2021-05-18T15:04:18.257Z,1621350258.257 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:18.257Z,1621350258.257 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:18.293Z,1621350258.293 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:18.294Z,1621350258.294 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.377711 forward, 0.925553 starboard, -0.026177 keelward ]
2021-05-18T15:04:18.294Z,1621350258.294 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:18.305Z,1621350258.305 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998776,-0.049373,-0.002847;0.049429,0.998472,0.024690;0.001624,-0.024801,0.999691 ]
2021-05-18T15:04:18.305Z,1621350258.305 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:04:18.306Z,1621350258.306 [lab_range_test:A.](INFO): direction in world frame: [ 0.422955 north, 0.906140 east, -0.004392 down ]
2021-05-18T15:04:18.306Z,1621350258.306 [lab_range_test:A.](INFO): relPosInFSK: [ 0.075542 forward, 0.185111 starboard, -0.005235 keelward ]
2021-05-18T15:04:18.315Z,1621350258.315 [lab_range_test:A.](INFO): relPosInNED: [ 0.084591 north, 0.181228 east, -0.000878 down ]
2021-05-18T15:04:18.316Z,1621350258.316 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:18.316Z,1621350258.316 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:18.632Z,1621350258.632 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:19.049Z,1621350259.049 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:19.426Z,1621350259.426 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:19.829Z,1621350259.829 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:20.237Z,1621350260.237 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:20.644Z,1621350260.644 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:21.040Z,1621350261.040 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:21.462Z,1621350261.462 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:21.873Z,1621350261.873 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:22.290Z,1621350262.290 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:22.657Z,1621350262.657 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:23.060Z,1621350263.060 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:23.465Z,1621350263.465 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:23.466Z,1621350263.466 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying...
2021-05-18T15:04:23.466Z,1621350263.466 [lab_range_test:A.](INFO): *** querying DAT ***
2021-05-18T15:04:23.862Z,1621350263.862 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:04:23.862Z,1621350263.862 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:04:23.862Z,1621350263.862 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode.
2021-05-18T15:04:23.862Z,1621350263.862 [DAT](INFO): ****** ping requested ******
2021-05-18T15:04:23.898Z,1621350263.898 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:24.272Z,1621350264.272 [DAT](INFO): DAT read: user:13>

2021-05-18T15:04:24.273Z,1621350264.273 [DAT](INFO): DAT read: Tx time:15:03:58.5800

2021-05-18T15:04:24.273Z,1621350264.273 [DAT](INFO): Ping request sent.
2021-05-18T15:04:24.273Z,1621350264.273 [DAT](INFO): transmitted an acoustic signal
2021-05-18T15:04:24.273Z,1621350264.273 [DAT](INFO): publishing transmit ping time
2021-05-18T15:04:24.274Z,1621350264.274 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000784
2021-05-18T15:04:24.313Z,1621350264.313 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:24.680Z,1621350264.680 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.407029
2021-05-18T15:04:24.697Z,1621350264.697 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:25.094Z,1621350265.094 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.820809
2021-05-18T15:04:25.113Z,1621350265.113 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:25.478Z,1621350265.478 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.204293
2021-05-18T15:04:25.497Z,1621350265.497 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:25.882Z,1621350265.882 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.608402
2021-05-18T15:04:25.889Z,1621350265.889 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:26.282Z,1621350266.282 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.008644
2021-05-18T15:04:26.302Z,1621350266.302 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:26.803Z,1621350266.803 [DAT](INFO): DAT read: Rx Time:15:04:00.7096 

2021-05-18T15:04:26.803Z,1621350266.803 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:26.804Z,1621350266.804 [DAT](INFO): DAT read: Bearing  68.6,  -0.0 (Local)

2021-05-18T15:04:26.805Z,1621350266.805 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.6,  -0.0 (Local)

2021-05-18T15:04:26.811Z,1621350266.811 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:04:26.820Z,1621350266.820 [DAT](INFO): DAT read: 15:04:00.7096 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 480, 0.38,-2.500,-2.756,-2.524,-2.574, PHS= 0.070,-0.137, 0.036, RAW= 141.0,   3.3, CAL= 141.4,   0.0, ROT=  68.6,  -0.0

2021-05-18T15:04:26.822Z,1621350266.822 [DAT](INFO): got valid direction response:
 15:04:00.7096 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 480, 0.38,-2.500,-2.756,-2.524,-2.574, PHS= 0.070,-0.137, 0.036, RAW= 141.0,   3.3, CAL= 141.4,   0.0, ROT=  68.6,  -0.0

2021-05-18T15:04:26.822Z,1621350266.822 [DAT](INFO): #Rx 1: Read range and direction messages.
2021-05-18T15:04:26.827Z,1621350266.827 [DAT](INFO): direction in vehicle frame: [ 0.364877 forward, 0.931056 starboard, -0.000000 keelward ]
2021-05-18T15:04:26.828Z,1621350266.828 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:26.828Z,1621350266.828 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:26.835Z,1621350266.835 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.557511
2021-05-18T15:04:26.909Z,1621350266.909 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:26.923Z,1621350266.923 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.364877 forward, 0.931056 starboard, -0.000000 keelward ]
2021-05-18T15:04:26.923Z,1621350266.923 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:26.940Z,1621350266.940 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998848,-0.047895,-0.002881;0.047952,0.998542,0.024807;0.001689,-0.024916,0.999688 ]
2021-05-18T15:04:26.940Z,1621350266.940 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:04:26.942Z,1621350266.942 [lab_range_test:A.](INFO): direction in world frame: [ 0.409103 north, 0.912222 east, 0.022045 down ]
2021-05-18T15:04:26.955Z,1621350266.955 [lab_range_test:A.](INFO): relPosInFSK: [ 0.109463 forward, 0.279317 starboard, -0.000000 keelward ]
2021-05-18T15:04:26.957Z,1621350266.957 [lab_range_test:A.](INFO): relPosInNED: [ 0.122731 north, 0.273667 east, 0.006614 down ]
2021-05-18T15:04:26.957Z,1621350266.957 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:26.957Z,1621350266.957 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:27.134Z,1621350267.134 [DAT](INFO): DAT read: Rx Time:15:04:01.2096 

2021-05-18T15:04:27.134Z,1621350267.134 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:27.144Z,1621350267.144 [DAT](INFO): DAT read: Bearing  66.6,  -3.8 (Local)

2021-05-18T15:04:27.144Z,1621350267.144 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.6,  -3.8 (Local)

2021-05-18T15:04:27.146Z,1621350267.146 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:04:27.159Z,1621350267.159 [DAT](INFO): DAT read: 15:04:01.2096 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.37, 0.950, 0.628, 0.925, 0.874, PHS= 0.073,-0.202, 0.037, RAW= 143.1,   7.2, CAL= 143.4,   3.8, ROT=  66.6,  -3.8

2021-05-18T15:04:27.160Z,1621350267.160 [DAT](INFO): got valid direction response:
 15:04:01.2096 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.37, 0.950, 0.628, 0.925, 0.874, PHS= 0.073,-0.202, 0.037, RAW= 143.1,   7.2, CAL= 143.4,   3.8, ROT=  66.6,  -3.8

2021-05-18T15:04:27.161Z,1621350267.161 [DAT](INFO): #Rx 2: Read range and direction messages.
2021-05-18T15:04:27.162Z,1621350267.162 [DAT](INFO): direction in vehicle frame: [ 0.396275 forward, 0.915737 starboard, -0.066274 keelward ]
2021-05-18T15:04:27.162Z,1621350267.162 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:27.162Z,1621350267.162 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:27.197Z,1621350267.197 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.924212
2021-05-18T15:04:27.269Z,1621350267.269 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:27.270Z,1621350267.270 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.396275 forward, 0.915737 starboard, -0.066274 keelward ]
2021-05-18T15:04:27.270Z,1621350267.270 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:27.291Z,1621350267.291 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998801,-0.048865,-0.002912;0.048922,0.998497,0.024705;0.001700,-0.024818,0.999691 ]
2021-05-18T15:04:27.292Z,1621350267.292 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:04:27.292Z,1621350267.292 [lab_range_test:A.](INFO): direction in world frame: [ 0.440487 north, 0.896641 east, -0.044784 down ]
2021-05-18T15:04:27.293Z,1621350267.293 [lab_range_test:A.](INFO): relPosInFSK: [ 0.118882 forward, 0.274721 starboard, -0.019882 keelward ]
2021-05-18T15:04:27.294Z,1621350267.294 [lab_range_test:A.](INFO): relPosInNED: [ 0.132146 north, 0.268992 east, -0.013435 down ]
2021-05-18T15:04:27.294Z,1621350267.294 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:27.294Z,1621350267.294 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:27.525Z,1621350267.525 [DAT](INFO): DAT read: Rx Time:15:04:01.7096 

2021-05-18T15:04:27.525Z,1621350267.525 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:27.527Z,1621350267.527 [DAT](INFO): DAT read: Bearing  68.0,  -2.6 (Local)

2021-05-18T15:04:27.527Z,1621350267.527 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.0,  -2.6 (Local)

2021-05-18T15:04:27.529Z,1621350267.529 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:04:27.538Z,1621350267.538 [DAT](INFO): DAT read: 15:04:01.7096 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.20, 1.330, 1.013, 1.298, 1.247, PHS= 0.079,-0.189, 0.037, RAW= 141.6,   5.9, CAL= 142.0,   2.6, ROT=  68.0,  -2.6

2021-05-18T15:04:27.544Z,1621350267.544 [DAT](INFO): got valid direction response:
 15:04:01.7096 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.20, 1.330, 1.013, 1.298, 1.247, PHS= 0.079,-0.189, 0.037, RAW= 141.6,   5.9, CAL= 142.0,   2.6, ROT=  68.0,  -2.6

2021-05-18T15:04:27.544Z,1621350267.544 [DAT](INFO): #Rx 3: Read range and direction messages.
2021-05-18T15:04:27.545Z,1621350267.545 [DAT](INFO): direction in vehicle frame: [ 0.374221 forward, 0.926229 starboard, -0.045363 keelward ]
2021-05-18T15:04:27.546Z,1621350267.546 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:27.546Z,1621350267.546 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:27.553Z,1621350267.553 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.279667
2021-05-18T15:04:27.565Z,1621350267.565 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:27.566Z,1621350267.566 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.374221 forward, 0.926229 starboard, -0.045363 keelward ]
2021-05-18T15:04:27.566Z,1621350267.566 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:27.573Z,1621350267.573 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998796,-0.048978,-0.002844;0.049033,0.998491,0.024707;0.001630,-0.024817,0.999691 ]
2021-05-18T15:04:27.573Z,1621350267.573 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:04:27.574Z,1621350267.574 [lab_range_test:A.](INFO): direction in world frame: [ 0.419113 north, 0.907629 east, -0.023529 down ]
2021-05-18T15:04:27.574Z,1621350267.574 [lab_range_test:A.](INFO): relPosInFSK: [ 0.112266 forward, 0.277869 starboard, -0.013609 keelward ]
2021-05-18T15:04:27.608Z,1621350267.608 [lab_range_test:A.](INFO): relPosInNED: [ 0.125734 north, 0.272289 east, -0.007059 down ]
2021-05-18T15:04:27.608Z,1621350267.608 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:27.608Z,1621350267.608 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:27.930Z,1621350267.930 [DAT](INFO): DAT read: Rx Time:15:04:02.2095 

2021-05-18T15:04:27.930Z,1621350267.930 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:27.932Z,1621350267.932 [DAT](INFO): DAT read: Bearing  65.7,  -5.0 (Local)

2021-05-18T15:04:27.933Z,1621350267.933 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.7,  -5.0 (Local)

2021-05-18T15:04:27.940Z,1621350267.940 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:04:27.947Z,1621350267.947 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2021-05-18T15:04:27.947Z,1621350267.947 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:27.949Z,1621350267.949 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=3.675430
2021-05-18T15:04:27.967Z,1621350267.967 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:27.968Z,1621350267.968 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.374221 forward, 0.926229 starboard, -0.045363 keelward ]
2021-05-18T15:04:27.968Z,1621350267.968 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:27.970Z,1621350267.970 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998776,-0.049382,-0.002848;0.049438,0.998472,0.024671;0.001626,-0.024782,0.999692 ]
2021-05-18T15:04:27.975Z,1621350267.975 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:04:27.976Z,1621350267.976 [lab_range_test:A.](INFO): direction in world frame: [ 0.419480 north, 0.907459 east, -0.023563 down ]
2021-05-18T15:04:27.977Z,1621350267.977 [lab_range_test:A.](INFO): relPosInFSK: [ 0.074844 forward, 0.185246 starboard, -0.009073 keelward ]
2021-05-18T15:04:27.977Z,1621350267.977 [lab_range_test:A.](INFO): relPosInNED: [ 0.083896 north, 0.181492 east, -0.004713 down ]
2021-05-18T15:04:27.978Z,1621350267.978 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:27.978Z,1621350267.978 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:28.573Z,1621350268.573 [DAT](INFO): DAT read: 15:04:02.2095 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.06,-0.111,-0.424,-0.131,-0.179, PHS= 0.064,-0.201, 0.033, RAW= 143.9,   8.4, CAL= 144.3,   5.0, ROT=  65.7,  -5.0

2021-05-18T15:04:28.574Z,1621350268.574 [DAT](INFO): got valid direction response:
 15:04:02.2095 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.06,-0.111,-0.424,-0.131,-0.179, PHS= 0.064,-0.201, 0.033, RAW= 143.9,   8.4, CAL= 144.3,   5.0, ROT=  65.7,  -5.0

2021-05-18T15:04:28.584Z,1621350268.584 [DAT](INFO): DAT read: Rx Time:15:04:02.7096 

2021-05-18T15:04:28.584Z,1621350268.584 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:28.585Z,1621350268.585 [DAT](INFO): DAT read: Bearing  70.6,  -6.2 (Local)

2021-05-18T15:04:28.585Z,1621350268.585 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.6,  -6.2 (Local)

2021-05-18T15:04:28.596Z,1621350268.596 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:04:28.609Z,1621350268.609 [DAT](INFO): DAT read: 15:04:02.7096 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.64, 2.164, 1.547, 2.059, 2.012, PHS= 0.148,-0.421, 0.031, RAW= 138.8,   9.3, CAL= 139.4,   6.2, ROT=  70.6,  -6.2

2021-05-18T15:04:28.610Z,1621350268.610 [DAT](INFO): got valid direction response:
 15:04:02.7096 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.64, 2.164, 1.547, 2.059, 2.012, PHS= 0.148,-0.421, 0.031, RAW= 138.8,   9.3, CAL= 139.4,   6.2, ROT=  70.6,  -6.2

2021-05-18T15:04:28.611Z,1621350268.611 [DAT](INFO): #Rx 5: Read range and direction messages.
2021-05-18T15:04:28.620Z,1621350268.620 [DAT](INFO): direction in vehicle frame: [ 0.330218 forward, 0.937706 starboard, -0.107999 keelward ]
2021-05-18T15:04:28.620Z,1621350268.620 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:28.620Z,1621350268.620 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:28.650Z,1621350268.650 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:28.655Z,1621350268.655 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.330218 forward, 0.937706 starboard, -0.107999 keelward ]
2021-05-18T15:04:28.655Z,1621350268.655 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:28.657Z,1621350268.657 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998748,-0.049948,-0.002815;0.050002,0.998444,0.024671;0.001579,-0.024781,0.999692 ]
2021-05-18T15:04:28.658Z,1621350268.658 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:04:28.658Z,1621350268.658 [lab_range_test:A.](INFO): direction in world frame: [ 0.376521 north, 0.922430 east, -0.085762 down ]
2021-05-18T15:04:28.663Z,1621350268.663 [lab_range_test:A.](INFO): relPosInFSK: [ 0.099066 forward, 0.281312 starboard, -0.032400 keelward ]
2021-05-18T15:04:28.664Z,1621350268.664 [lab_range_test:A.](INFO): relPosInNED: [ 0.112956 north, 0.276729 east, -0.025729 down ]
2021-05-18T15:04:28.664Z,1621350268.664 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:28.664Z,1621350268.664 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:28.750Z,1621350268.750 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:29.158Z,1621350269.158 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:29.542Z,1621350269.542 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:29.973Z,1621350269.973 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:30.368Z,1621350270.368 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:30.761Z,1621350270.761 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:31.169Z,1621350271.169 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:31.545Z,1621350271.545 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:31.955Z,1621350271.955 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:32.352Z,1621350272.352 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:32.757Z,1621350272.757 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:33.157Z,1621350273.157 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:33.585Z,1621350273.585 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:33.985Z,1621350273.985 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:33.986Z,1621350273.986 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying...
2021-05-18T15:04:33.986Z,1621350273.986 [lab_range_test:A.](INFO): *** querying DAT ***
2021-05-18T15:04:34.372Z,1621350274.372 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:04:34.372Z,1621350274.372 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:04:34.372Z,1621350274.372 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode.
2021-05-18T15:04:34.374Z,1621350274.374 [DAT](INFO): ****** ping requested ******
2021-05-18T15:04:34.381Z,1621350274.381 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:34.769Z,1621350274.769 [DAT](INFO): DAT read: user:14>

2021-05-18T15:04:34.770Z,1621350274.770 [DAT](INFO): DAT read: Tx time:15:04:09.1299

2021-05-18T15:04:34.771Z,1621350274.771 [DAT](INFO): Ping request sent.
2021-05-18T15:04:34.771Z,1621350274.771 [DAT](INFO): transmitted an acoustic signal
2021-05-18T15:04:34.771Z,1621350274.771 [DAT](INFO): publishing transmit ping time
2021-05-18T15:04:34.772Z,1621350274.772 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000890
2021-05-18T15:04:34.782Z,1621350274.782 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:35.179Z,1621350275.179 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.408353
2021-05-18T15:04:35.189Z,1621350275.189 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:35.575Z,1621350275.575 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.803780
2021-05-18T15:04:35.606Z,1621350275.606 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:35.978Z,1621350275.978 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.206907
2021-05-18T15:04:35.989Z,1621350275.989 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:36.392Z,1621350276.392 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.621622
2021-05-18T15:04:36.405Z,1621350276.405 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:36.808Z,1621350276.808 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.037458
2021-05-18T15:04:36.816Z,1621350276.816 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:37.205Z,1621350277.205 [DAT](INFO): DAT read: Rx Time:15:04:11.2595 

2021-05-18T15:04:37.205Z,1621350277.205 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:37.206Z,1621350277.206 [DAT](INFO): DAT read: Bearing  68.0,  -1.2 (Local)

2021-05-18T15:04:37.207Z,1621350277.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.0,  -1.2 (Local)

2021-05-18T15:04:37.209Z,1621350277.209 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:04:37.230Z,1621350277.230 [DAT](INFO): DAT read: 15:04:11.2595 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.26,-0.804,-1.058,-0.825,-0.873, PHS= 0.065,-0.141, 0.033, RAW= 141.6,   4.5, CAL= 142.0,   1.2, ROT=  68.0,  -1.2

2021-05-18T15:04:37.234Z,1621350277.234 [DAT](INFO): got valid direction response:
 15:04:11.2595 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.26,-0.804,-1.058,-0.825,-0.873, PHS= 0.065,-0.141, 0.033, RAW= 141.6,   4.5, CAL= 142.0,   1.2, ROT=  68.0,  -1.2

2021-05-18T15:04:37.240Z,1621350277.240 [DAT](INFO): #Rx 1: Read range and direction messages.
2021-05-18T15:04:37.254Z,1621350277.254 [DAT](INFO): direction in vehicle frame: [ 0.374524 forward, 0.926980 starboard, -0.020942 keelward ]
2021-05-18T15:04:37.271Z,1621350277.271 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:37.271Z,1621350277.271 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:37.274Z,1621350277.274 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.503420
2021-05-18T15:04:37.311Z,1621350277.311 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:37.312Z,1621350277.312 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.374524 forward, 0.926980 starboard, -0.020942 keelward ]
2021-05-18T15:04:37.312Z,1621350277.312 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:37.314Z,1621350277.314 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998918,-0.046417,-0.002892;0.046475,0.998608,0.024964;0.001729,-0.025071,0.999684 ]
2021-05-18T15:04:37.320Z,1621350277.320 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:04:37.320Z,1621350277.320 [lab_range_test:A.](INFO): direction in world frame: [ 0.417164 north, 0.908830 east, 0.001122 down ]
2021-05-18T15:04:37.321Z,1621350277.321 [lab_range_test:A.](INFO): relPosInFSK: [ 0.112357 forward, 0.278094 starboard, -0.006283 keelward ]
2021-05-18T15:04:37.322Z,1621350277.322 [lab_range_test:A.](INFO): relPosInNED: [ 0.125149 north, 0.272649 east, 0.000337 down ]
2021-05-18T15:04:37.322Z,1621350277.322 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:37.322Z,1621350277.322 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:37.607Z,1621350277.607 [DAT](INFO): DAT read: Rx Time:15:04:11.7594 

2021-05-18T15:04:37.607Z,1621350277.607 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:37.608Z,1621350277.608 [DAT](INFO): DAT read: Bearing  67.6,  -1.9 (Local)

2021-05-18T15:04:37.609Z,1621350277.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.6,  -1.9 (Local)

2021-05-18T15:04:37.611Z,1621350277.611 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:04:37.615Z,1621350277.615 [DAT](INFO): DAT read: 15:04:11.7594 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.45,-2.298,-2.564,-2.320,-2.368, PHS= 0.066,-0.152, 0.033, RAW= 142.0,   5.2, CAL= 142.4,   1.9, ROT=  67.6,  -1.9

2021-05-18T15:04:37.617Z,1621350277.617 [DAT](INFO): got valid direction response:
 15:04:11.7594 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.45,-2.298,-2.564,-2.320,-2.368, PHS= 0.066,-0.152, 0.033, RAW= 142.0,   5.2, CAL= 142.4,   1.9, ROT=  67.6,  -1.9

2021-05-18T15:04:37.618Z,1621350277.618 [DAT](INFO): #Rx 2: Read range and direction messages.
2021-05-18T15:04:37.619Z,1621350277.619 [DAT](INFO): direction in vehicle frame: [ 0.380861 forward, 0.924038 starboard, -0.033155 keelward ]
2021-05-18T15:04:37.619Z,1621350277.619 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:37.619Z,1621350277.619 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:37.622Z,1621350277.622 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.851466
2021-05-18T15:04:37.630Z,1621350277.630 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:37.631Z,1621350277.631 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.380861 forward, 0.924038 starboard, -0.033155 keelward ]
2021-05-18T15:04:37.631Z,1621350277.631 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:37.633Z,1621350277.633 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998901,-0.046781,-0.002951;0.046840,0.998592,0.024887;0.001783,-0.024998,0.999686 ]
2021-05-18T15:04:37.634Z,1621350277.634 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:04:37.634Z,1621350277.634 [lab_range_test:A.](INFO): direction in world frame: [ 0.423665 north, 0.905749 east, -0.011272 down ]
2021-05-18T15:04:37.635Z,1621350277.635 [lab_range_test:A.](INFO): relPosInFSK: [ 0.076172 forward, 0.184808 starboard, -0.006631 keelward ]
2021-05-18T15:04:37.636Z,1621350277.636 [lab_range_test:A.](INFO): relPosInNED: [ 0.084733 north, 0.181150 east, -0.002254 down ]
2021-05-18T15:04:37.637Z,1621350277.637 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:37.637Z,1621350277.637 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:38.010Z,1621350278.010 [DAT](INFO): DAT read: Rx Time:15:04:12.2594 

2021-05-18T15:04:38.010Z,1621350278.010 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:38.012Z,1621350278.012 [DAT](INFO): DAT read: Bearing  67.2,  -2.9 (Local)

2021-05-18T15:04:38.012Z,1621350278.012 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.2,  -2.9 (Local)

2021-05-18T15:04:38.014Z,1621350278.014 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:04:38.039Z,1621350278.039 [DAT](INFO): DAT read: 15:04:12.2594 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.32, 1.738, 1.428, 1.712, 1.659, PHS= 0.074,-0.188, 0.037, RAW= 142.5,   6.3, CAL= 142.8,   2.9, ROT=  67.2,  -2.9

2021-05-18T15:04:38.040Z,1621350278.040 [DAT](INFO): got valid direction response:
 15:04:12.2594 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.32, 1.738, 1.428, 1.712, 1.659, PHS= 0.074,-0.188, 0.037, RAW= 142.5,   6.3, CAL= 142.8,   2.9, ROT=  67.2,  -2.9

2021-05-18T15:04:38.041Z,1621350278.041 [DAT](INFO): #Rx 3: Read range and direction messages.
2021-05-18T15:04:38.042Z,1621350278.042 [DAT](INFO): direction in vehicle frame: [ 0.387019 forward, 0.920683 starboard, -0.050593 keelward ]
2021-05-18T15:04:38.042Z,1621350278.042 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:38.042Z,1621350278.042 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:38.045Z,1621350278.045 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.274614
2021-05-18T15:04:38.062Z,1621350278.062 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:38.067Z,1621350278.067 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.387019 forward, 0.920683 starboard, -0.050593 keelward ]
2021-05-18T15:04:38.067Z,1621350278.067 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:38.070Z,1621350278.070 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998908,-0.046634,-0.002849;0.046691,0.998598,0.024950;0.001682,-0.025055,0.999685 ]
2021-05-18T15:04:38.070Z,1621350278.070 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:04:38.076Z,1621350278.076 [lab_range_test:A.](INFO): direction in world frame: [ 0.429499 north, 0.902611 east, -0.028709 down ]
2021-05-18T15:04:38.076Z,1621350278.076 [lab_range_test:A.](INFO): relPosInFSK: [ 0.077404 forward, 0.184137 starboard, -0.010119 keelward ]
2021-05-18T15:04:38.077Z,1621350278.077 [lab_range_test:A.](INFO): relPosInNED: [ 0.085900 north, 0.180522 east, -0.005742 down ]
2021-05-18T15:04:38.077Z,1621350278.077 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:38.077Z,1621350278.077 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:38.410Z,1621350278.410 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.639624
2021-05-18T15:04:38.422Z,1621350278.422 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:38.810Z,1621350278.810 [DAT](INFO): DAT read: Rx Time:15:04:12.7595 

2021-05-18T15:04:38.810Z,1621350278.810 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:38.811Z,1621350278.811 [DAT](INFO): DAT read: Bearing  77.7,  -3.3 (Local)

2021-05-18T15:04:38.812Z,1621350278.812 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.7,  -3.3 (Local)

2021-05-18T15:04:38.814Z,1621350278.814 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:04:38.839Z,1621350278.839 [DAT](INFO): DAT read: 15:04:12.7595 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.72, 0.067,-0.924,-0.240,-0.279, PHS= 0.342,-0.601, 0.024, RAW= 130.6,   5.7, CAL= 132.3,   3.3, ROT=  77.7,  -3.3

2021-05-18T15:04:38.840Z,1621350278.840 [DAT](INFO): got valid direction response:
 15:04:12.7595 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.72, 0.067,-0.924,-0.240,-0.279, PHS= 0.342,-0.601, 0.024, RAW= 130.6,   5.7, CAL= 132.3,   3.3, ROT=  77.7,  -3.3

2021-05-18T15:04:38.841Z,1621350278.841 [DAT](INFO): #Rx 4: Read range and direction messages.
2021-05-18T15:04:38.842Z,1621350278.842 [DAT](INFO): direction in vehicle frame: [ 0.212677 forward, 0.975425 starboard, -0.057564 keelward ]
2021-05-18T15:04:38.842Z,1621350278.842 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:38.842Z,1621350278.842 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:38.853Z,1621350278.853 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.082632
2021-05-18T15:04:38.905Z,1621350278.905 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:38.906Z,1621350278.906 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.212677 forward, 0.975425 starboard, -0.057564 keelward ]
2021-05-18T15:04:38.906Z,1621350278.906 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:38.908Z,1621350278.908 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998845,-0.047968,-0.002666;0.048020,0.998537,0.024878;0.001469,-0.024977,0.999687 ]
2021-05-18T15:04:38.908Z,1621350278.908 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:04:38.909Z,1621350278.909 [lab_range_test:A.](INFO): direction in world frame: [ 0.259187 north, 0.965234 east, -0.033847 down ]
2021-05-18T15:04:38.910Z,1621350278.910 [lab_range_test:A.](INFO): relPosInFSK: [ 0.063803 forward, 0.292628 starboard, -0.017269 keelward ]
2021-05-18T15:04:38.931Z,1621350278.931 [lab_range_test:A.](INFO): relPosInNED: [ 0.077756 north, 0.289570 east, -0.010154 down ]
2021-05-18T15:04:38.931Z,1621350278.931 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:38.931Z,1621350278.931 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:39.225Z,1621350279.225 [DAT](INFO): DAT read: Rx Time:15:04:13.2594 

2021-05-18T15:04:39.225Z,1621350279.225 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:39.226Z,1621350279.226 [DAT](INFO): DAT read: Bearing  66.6,  -3.8 (Local)

2021-05-18T15:04:39.227Z,1621350279.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.6,  -3.8 (Local)

2021-05-18T15:04:39.229Z,1621350279.229 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:04:39.233Z,1621350279.233 [DAT](INFO): DAT read: 15:04:13.2594 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.05, 1.747, 1.432, 1.723, 1.672, PHS= 0.070,-0.196, 0.035, RAW= 143.1,   7.2, CAL= 143.4,   3.8, ROT=  66.6,  -3.8

2021-05-18T15:04:39.234Z,1621350279.234 [DAT](INFO): got valid direction response:
 15:04:13.2594 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.05, 1.747, 1.432, 1.723, 1.672, PHS= 0.070,-0.196, 0.035, RAW= 143.1,   7.2, CAL= 143.4,   3.8, ROT=  66.6,  -3.8

2021-05-18T15:04:39.255Z,1621350279.255 [DAT](INFO): #Rx 5: Read range and direction messages.
2021-05-18T15:04:39.256Z,1621350279.256 [DAT](INFO): direction in vehicle frame: [ 0.396275 forward, 0.915737 starboard, -0.066274 keelward ]
2021-05-18T15:04:39.256Z,1621350279.256 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:39.257Z,1621350279.257 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:39.279Z,1621350279.279 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:39.280Z,1621350279.280 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.396275 forward, 0.915737 starboard, -0.066274 keelward ]
2021-05-18T15:04:39.280Z,1621350279.280 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:39.282Z,1621350279.282 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998843,-0.048016,-0.002771;0.048070,0.998534,0.024880;0.001573,-0.024984,0.999687 ]
2021-05-18T15:04:39.283Z,1621350279.283 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:04:39.288Z,1621350279.288 [lab_range_test:A.](INFO): direction in world frame: [ 0.439731 north, 0.897023 east, -0.044568 down ]
2021-05-18T15:04:39.288Z,1621350279.288 [lab_range_test:A.](INFO): relPosInFSK: [ 0.079255 forward, 0.183147 starboard, -0.013255 keelward ]
2021-05-18T15:04:39.289Z,1621350279.289 [lab_range_test:A.](INFO): relPosInNED: [ 0.087946 north, 0.179405 east, -0.008914 down ]
2021-05-18T15:04:39.290Z,1621350279.290 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:39.290Z,1621350279.290 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:39.649Z,1621350279.649 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:40.103Z,1621350280.103 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:40.469Z,1621350280.469 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:40.865Z,1621350280.865 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:41.256Z,1621350281.256 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:41.652Z,1621350281.652 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:42.111Z,1621350282.111 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:42.505Z,1621350282.505 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:42.898Z,1621350282.898 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:43.294Z,1621350283.294 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:43.678Z,1621350283.678 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:44.069Z,1621350284.069 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:44.477Z,1621350284.477 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:44.478Z,1621350284.478 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying...
2021-05-18T15:04:44.478Z,1621350284.478 [lab_range_test:A.](INFO): *** querying DAT ***
2021-05-18T15:04:44.871Z,1621350284.871 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:04:44.871Z,1621350284.871 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:04:44.871Z,1621350284.871 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode.
2021-05-18T15:04:44.872Z,1621350284.872 [DAT](INFO): ****** ping requested ******
2021-05-18T15:04:44.885Z,1621350284.885 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:45.288Z,1621350285.288 [DAT](INFO): DAT read: user:15>

2021-05-18T15:04:45.289Z,1621350285.289 [DAT](INFO): DAT read: Tx time:15:04:19.6298

2021-05-18T15:04:45.289Z,1621350285.289 [DAT](INFO): Ping request sent.
2021-05-18T15:04:45.289Z,1621350285.289 [DAT](INFO): transmitted an acoustic signal
2021-05-18T15:04:45.290Z,1621350285.290 [DAT](INFO): publishing transmit ping time
2021-05-18T15:04:45.290Z,1621350285.290 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000933
2021-05-18T15:04:45.301Z,1621350285.301 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:45.688Z,1621350285.688 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.398935
2021-05-18T15:04:45.715Z,1621350285.715 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:46.088Z,1621350286.088 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.799138
2021-05-18T15:04:46.101Z,1621350286.101 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:46.494Z,1621350286.494 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.204603
2021-05-18T15:04:46.501Z,1621350286.501 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:46.886Z,1621350286.886 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.596427
2021-05-18T15:04:46.917Z,1621350286.917 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:47.290Z,1621350287.290 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.000514
2021-05-18T15:04:47.297Z,1621350287.297 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:47.695Z,1621350287.695 [DAT](INFO): DAT read: Rx Time:15:04:21.7594 

2021-05-18T15:04:47.696Z,1621350287.696 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:47.697Z,1621350287.697 [DAT](INFO): DAT read: Bearing  68.8,  -1.3 (Local)

2021-05-18T15:04:47.697Z,1621350287.697 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.8,  -1.3 (Local)

2021-05-18T15:04:47.699Z,1621350287.699 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:04:47.704Z,1621350287.704 [DAT](INFO): DAT read: 15:04:21.7594 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 480, 0.09, 0.680, 0.416, 0.654, 0.607, PHS= 0.070,-0.147, 0.033, RAW= 140.8,   4.5, CAL= 141.2,   1.3, ROT=  68.8,  -1.3

2021-05-18T15:04:47.705Z,1621350287.705 [DAT](INFO): got valid direction response:
 15:04:21.7594 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 480, 0.09, 0.680, 0.416, 0.654, 0.607, PHS= 0.070,-0.147, 0.033, RAW= 140.8,   4.5, CAL= 141.2,   1.3, ROT=  68.8,  -1.3

2021-05-18T15:04:47.706Z,1621350287.706 [DAT](INFO): #Rx 1: Read range and direction messages.
2021-05-18T15:04:47.707Z,1621350287.707 [DAT](INFO): direction in vehicle frame: [ 0.361531 forward, 0.932084 starboard, -0.022687 keelward ]
2021-05-18T15:04:47.708Z,1621350287.708 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:47.708Z,1621350287.708 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:47.711Z,1621350287.711 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.421509
2021-05-18T15:04:47.718Z,1621350287.718 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:47.719Z,1621350287.719 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.361531 forward, 0.932084 starboard, -0.022687 keelward ]
2021-05-18T15:04:47.720Z,1621350287.720 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:47.722Z,1621350287.722 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998915,-0.046481,-0.002822;0.046537,0.998605,0.024965;0.001658,-0.025069,0.999684 ]
2021-05-18T15:04:47.722Z,1621350287.722 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:04:47.723Z,1621350287.723 [lab_range_test:A.](INFO): direction in world frame: [ 0.404478 north, 0.914548 east, -0.000431 down ]
2021-05-18T15:04:47.724Z,1621350287.724 [lab_range_test:A.](INFO): relPosInFSK: [ 0.108459 forward, 0.279625 starboard, -0.006806 keelward ]
2021-05-18T15:04:47.724Z,1621350287.724 [lab_range_test:A.](INFO): relPosInNED: [ 0.121343 north, 0.274364 east, -0.000129 down ]
2021-05-18T15:04:47.725Z,1621350287.725 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:47.725Z,1621350287.725 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:48.112Z,1621350288.112 [DAT](INFO): DAT read: Rx Time:15:04:22.2593 

2021-05-18T15:04:48.112Z,1621350288.112 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:48.113Z,1621350288.113 [DAT](INFO): DAT read: Bearing  68.5,  -1.2 (Local)

2021-05-18T15:04:48.114Z,1621350288.114 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.5,  -1.2 (Local)

2021-05-18T15:04:48.116Z,1621350288.116 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:04:48.121Z,1621350288.121 [DAT](INFO): DAT read: 15:04:22.2593 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.22,-0.075,-0.326,-0.098,-0.144, PHS= 0.065,-0.138, 0.031, RAW= 141.1,   4.4, CAL= 141.5,   1.2, ROT=  68.5,  -1.2

2021-05-18T15:04:48.123Z,1621350288.123 [DAT](INFO): got valid direction response:
 15:04:22.2593 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.22,-0.075,-0.326,-0.098,-0.144, PHS= 0.065,-0.138, 0.031, RAW= 141.1,   4.4, CAL= 141.5,   1.2, ROT=  68.5,  -1.2

2021-05-18T15:04:48.123Z,1621350288.123 [DAT](INFO): #Rx 2: Read range and direction messages.
2021-05-18T15:04:48.124Z,1621350288.124 [DAT](INFO): direction in vehicle frame: [ 0.366421 forward, 0.930214 starboard, -0.020942 keelward ]
2021-05-18T15:04:48.124Z,1621350288.124 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:48.125Z,1621350288.125 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:48.128Z,1621350288.128 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.838489
2021-05-18T15:04:48.135Z,1621350288.135 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:48.136Z,1621350288.136 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.366421 forward, 0.930214 starboard, -0.020942 keelward ]
2021-05-18T15:04:48.136Z,1621350288.136 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:48.139Z,1621350288.139 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998881,-0.047210,-0.002880;0.047268,0.998572,0.024894;0.001700,-0.025002,0.999686 ]
2021-05-18T15:04:48.140Z,1621350288.140 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:04:48.141Z,1621350288.141 [lab_range_test:A.](INFO): direction in world frame: [ 0.409944 north, 0.912110 east, 0.001166 down ]
2021-05-18T15:04:48.141Z,1621350288.141 [lab_range_test:A.](INFO): relPosInFSK: [ 0.073284 forward, 0.186043 starboard, -0.004188 keelward ]
2021-05-18T15:04:48.142Z,1621350288.142 [lab_range_test:A.](INFO): relPosInNED: [ 0.081989 north, 0.182422 east, 0.000233 down ]
2021-05-18T15:04:48.142Z,1621350288.142 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:48.143Z,1621350288.143 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:48.529Z,1621350288.529 [DAT](INFO): DAT read: Rx Time:15:04:22.7593 

2021-05-18T15:04:48.529Z,1621350288.529 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:48.531Z,1621350288.531 [DAT](INFO): DAT read: Bearing  67.8,  -2.2 (Local)

2021-05-18T15:04:48.531Z,1621350288.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.8,  -2.2 (Local)

2021-05-18T15:04:48.533Z,1621350288.533 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:04:48.538Z,1621350288.538 [DAT](INFO): DAT read: 15:04:22.7593 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.40,-0.439,-0.702,-0.461,-0.507, PHS= 0.064,-0.151, 0.031, RAW= 141.8,   5.5, CAL= 142.2,   2.2, ROT=  67.8,  -2.2

2021-05-18T15:04:48.539Z,1621350288.539 [DAT](INFO): got valid direction response:
 15:04:22.7593 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.40,-0.439,-0.702,-0.461,-0.507, PHS= 0.064,-0.151, 0.031, RAW= 141.8,   5.5, CAL= 142.2,   2.2, ROT=  67.8,  -2.2

2021-05-18T15:04:48.540Z,1621350288.540 [DAT](INFO): #Rx 3: Read range and direction messages.
2021-05-18T15:04:48.541Z,1621350288.541 [DAT](INFO): direction in vehicle frame: [ 0.377562 forward, 0.925188 starboard, -0.038388 keelward ]
2021-05-18T15:04:48.541Z,1621350288.541 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:48.541Z,1621350288.541 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:48.544Z,1621350288.544 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.255068
2021-05-18T15:04:48.574Z,1621350288.574 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:48.583Z,1621350288.583 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.377562 forward, 0.925188 starboard, -0.038388 keelward ]
2021-05-18T15:04:48.583Z,1621350288.583 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:48.585Z,1621350288.585 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998904,-0.046719,-0.002959;0.046778,0.998594,0.024936;0.001789,-0.025047,0.999685 ]
2021-05-18T15:04:48.586Z,1621350288.586 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:04:48.587Z,1621350288.587 [lab_range_test:A.](INFO): direction in world frame: [ 0.420358 north, 0.907210 east, -0.016422 down ]
2021-05-18T15:04:48.587Z,1621350288.587 [lab_range_test:A.](INFO): relPosInFSK: [ 0.075512 forward, 0.185038 starboard, -0.007678 keelward ]
2021-05-18T15:04:48.588Z,1621350288.588 [lab_range_test:A.](INFO): relPosInNED: [ 0.084072 north, 0.181442 east, -0.003284 down ]
2021-05-18T15:04:48.588Z,1621350288.588 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:48.589Z,1621350288.589 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:48.920Z,1621350288.920 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.631220
2021-05-18T15:04:48.941Z,1621350288.941 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:49.333Z,1621350289.333 [DAT](INFO): DAT read: Rx Time:15:04:23.2593 

2021-05-18T15:04:49.333Z,1621350289.333 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:49.335Z,1621350289.335 [DAT](INFO): DAT read: Bearing  68.5,  -3.5 (Local)

2021-05-18T15:04:49.335Z,1621350289.335 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.5,  -3.5 (Local)

2021-05-18T15:04:49.337Z,1621350289.337 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:04:49.354Z,1621350289.354 [DAT](INFO): DAT read: 15:04:23.2593 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 511,-0.35, 2.957, 2.616, 2.919, 2.870, PHS= 0.084,-0.210, 0.035, RAW= 141.0,   6.8, CAL= 141.5,   3.5, ROT=  68.5,  -3.5

2021-05-18T15:04:49.360Z,1621350289.360 [DAT](INFO): got valid direction response:
 15:04:23.2593 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 511,-0.35, 2.957, 2.616, 2.919, 2.870, PHS= 0.084,-0.210, 0.035, RAW= 141.0,   6.8, CAL= 141.5,   3.5, ROT=  68.5,  -3.5

2021-05-18T15:04:49.360Z,1621350289.360 [DAT](INFO): #Rx 4: Read range and direction messages.
2021-05-18T15:04:49.361Z,1621350289.361 [DAT](INFO): direction in vehicle frame: [ 0.365818 forward, 0.928682 starboard, -0.061049 keelward ]
2021-05-18T15:04:49.362Z,1621350289.362 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:49.362Z,1621350289.362 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:49.369Z,1621350289.369 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.079666
2021-05-18T15:04:49.381Z,1621350289.381 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:49.382Z,1621350289.382 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.365818 forward, 0.928682 starboard, -0.061049 keelward ]
2021-05-18T15:04:49.382Z,1621350289.382 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:49.395Z,1621350289.395 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998839,-0.048081,-0.002850;0.048137,0.998532,0.024837;0.001652,-0.024945,0.999687 ]
2021-05-18T15:04:49.396Z,1621350289.396 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:04:49.396Z,1621350289.396 [lab_range_test:A.](INFO): direction in world frame: [ 0.409996 north, 0.911253 east, -0.039007 down ]
2021-05-18T15:04:49.397Z,1621350289.397 [lab_range_test:A.](INFO): relPosInFSK: [ 0.073164 forward, 0.185736 starboard, -0.012210 keelward ]
2021-05-18T15:04:49.398Z,1621350289.398 [lab_range_test:A.](INFO): relPosInNED: [ 0.081999 north, 0.182251 east, -0.007801 down ]
2021-05-18T15:04:49.398Z,1621350289.398 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:49.398Z,1621350289.398 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:49.728Z,1621350289.728 [DAT](INFO): DAT read: Rx Time:15:04:23.7594 

2021-05-18T15:04:49.729Z,1621350289.729 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:49.730Z,1621350289.730 [DAT](INFO): DAT read: Bearing  83.8,   0.4 (Local)

2021-05-18T15:04:49.730Z,1621350289.730 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.8,   0.4 (Local)

2021-05-18T15:04:49.732Z,1621350289.732 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:04:49.737Z,1621350289.737 [DAT](INFO): DAT read: 15:04:23.7594 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.92,-0.555,-1.946,-1.139,-1.175, PHS= 0.616,-0.727, 0.022, RAW= 123.8,   1.6, CAL= 126.2,  -0.4, ROT=  83.8,   0.4

2021-05-18T15:04:49.738Z,1621350289.738 [DAT](INFO): got valid direction response:
 15:04:23.7594 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.92,-0.555,-1.946,-1.139,-1.175, PHS= 0.616,-0.727, 0.022, RAW= 123.8,   1.6, CAL= 126.2,  -0.4, ROT=  83.8,   0.4

2021-05-18T15:04:49.739Z,1621350289.739 [DAT](INFO): #Rx 5: Read range and direction messages.
2021-05-18T15:04:49.740Z,1621350289.740 [DAT](INFO): direction in vehicle frame: [ 0.107997 forward, 0.994127 starboard, 0.006981 keelward ]
2021-05-18T15:04:49.740Z,1621350289.740 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:49.740Z,1621350289.740 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:49.751Z,1621350289.751 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:49.752Z,1621350289.752 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.107997 forward, 0.994127 starboard, 0.006981 keelward ]
2021-05-18T15:04:49.752Z,1621350289.752 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:49.754Z,1621350289.754 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998800,-0.048893,-0.002831;0.048948,0.998494,0.024768;0.001616,-0.024877,0.999689 ]
2021-05-18T15:04:49.755Z,1621350289.755 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:04:49.756Z,1621350289.756 [lab_range_test:A.](INFO): direction in world frame: [ 0.156539 north, 0.987176 east, 0.031296 down ]
2021-05-18T15:04:49.756Z,1621350289.756 [lab_range_test:A.](INFO): relPosInFSK: [ 0.032399 forward, 0.298238 starboard, 0.002094 keelward ]
2021-05-18T15:04:49.757Z,1621350289.757 [lab_range_test:A.](INFO): relPosInNED: [ 0.046962 north, 0.296153 east, 0.009389 down ]
2021-05-18T15:04:49.757Z,1621350289.757 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:49.758Z,1621350289.758 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:50.130Z,1621350290.130 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:50.537Z,1621350290.537 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:50.949Z,1621350290.949 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:51.359Z,1621350291.359 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:51.772Z,1621350291.772 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:52.165Z,1621350292.165 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:52.561Z,1621350292.561 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:52.969Z,1621350292.969 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:53.420Z,1621350293.420 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:53.773Z,1621350293.773 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:54.197Z,1621350294.197 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:54.613Z,1621350294.613 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:55.002Z,1621350295.002 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:55.003Z,1621350295.003 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying...
2021-05-18T15:04:55.003Z,1621350295.003 [lab_range_test:A.](INFO): *** querying DAT ***
2021-05-18T15:04:55.434Z,1621350295.434 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:04:55.434Z,1621350295.434 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:04:55.434Z,1621350295.434 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode.
2021-05-18T15:04:55.436Z,1621350295.436 [DAT](INFO): ****** ping requested ******
2021-05-18T15:04:55.443Z,1621350295.443 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:55.793Z,1621350295.793 [DAT](INFO): DAT read: user:16>

2021-05-18T15:04:55.794Z,1621350295.794 [DAT](INFO): DAT read: Tx time:15:04:30.1797

2021-05-18T15:04:55.794Z,1621350295.794 [DAT](INFO): Ping request sent.
2021-05-18T15:04:55.794Z,1621350295.794 [DAT](INFO): transmitted an acoustic signal
2021-05-18T15:04:55.795Z,1621350295.795 [DAT](INFO): publishing transmit ping time
2021-05-18T15:04:55.796Z,1621350295.796 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.001125
2021-05-18T15:04:55.840Z,1621350295.840 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:56.213Z,1621350296.213 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.418003
2021-05-18T15:04:56.220Z,1621350296.220 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:56.616Z,1621350296.616 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.821622
2021-05-18T15:04:56.646Z,1621350296.646 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:57.008Z,1621350297.008 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.213952
2021-05-18T15:04:57.028Z,1621350297.028 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:57.391Z,1621350297.391 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.595999
2021-05-18T15:04:57.433Z,1621350297.433 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:57.794Z,1621350297.794 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.999120
2021-05-18T15:04:57.837Z,1621350297.837 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:58.209Z,1621350298.209 [DAT](INFO): DAT read: Rx Time:15:04:32.3093 

2021-05-18T15:04:58.209Z,1621350298.209 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:58.210Z,1621350298.210 [DAT](INFO): DAT read: Bearing  67.9,  -2.2 (Local)

2021-05-18T15:04:58.211Z,1621350298.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.9,  -2.2 (Local)

2021-05-18T15:04:58.213Z,1621350298.213 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:04:58.217Z,1621350298.217 [DAT](INFO): DAT read: 15:04:32.3093 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464,-0.01, 1.555, 1.268, 1.529, 1.479, PHS= 0.072,-0.168, 0.035, RAW= 141.7,   5.5, CAL= 142.1,   2.2, ROT=  67.9,  -2.2

2021-05-18T15:04:58.218Z,1621350298.218 [DAT](INFO): got valid direction response:
 15:04:32.3093 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464,-0.01, 1.555, 1.268, 1.529, 1.479, PHS= 0.072,-0.168, 0.035, RAW= 141.7,   5.5, CAL= 142.1,   2.2, ROT=  67.9,  -2.2

2021-05-18T15:04:58.219Z,1621350298.219 [DAT](INFO): #Rx 1: Read range and direction messages.
2021-05-18T15:04:58.220Z,1621350298.220 [DAT](INFO): direction in vehicle frame: [ 0.375947 forward, 0.925846 starboard, -0.038388 keelward ]
2021-05-18T15:04:58.220Z,1621350298.220 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:58.220Z,1621350298.220 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:58.223Z,1621350298.223 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.428957
2021-05-18T15:04:58.305Z,1621350298.305 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:58.306Z,1621350298.306 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.375947 forward, 0.925846 starboard, -0.038388 keelward ]
2021-05-18T15:04:58.306Z,1621350298.306 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:58.308Z,1621350298.308 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998867,-0.047505,-0.002907;0.047563,0.998558,0.024894;0.001720,-0.025004,0.999686 ]
2021-05-18T15:04:58.308Z,1621350298.308 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:04:58.309Z,1621350298.309 [lab_range_test:A.](INFO): direction in world frame: [ 0.419490 north, 0.907611 east, -0.016421 down ]
2021-05-18T15:04:58.310Z,1621350298.310 [lab_range_test:A.](INFO): relPosInFSK: [ 0.112784 forward, 0.277754 starboard, -0.011516 keelward ]
2021-05-18T15:04:58.311Z,1621350298.311 [lab_range_test:A.](INFO): relPosInNED: [ 0.125847 north, 0.272283 east, -0.004926 down ]
2021-05-18T15:04:58.337Z,1621350298.337 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:58.337Z,1621350298.337 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:58.629Z,1621350298.629 [DAT](INFO): DAT read: Rx Time:15:04:32.8092 

2021-05-18T15:04:58.629Z,1621350298.629 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:58.631Z,1621350298.631 [DAT](INFO): DAT read: Bearing  69.2,  -0.8 (Local)

2021-05-18T15:04:58.631Z,1621350298.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.2,  -0.8 (Local)

2021-05-18T15:04:58.633Z,1621350298.633 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:04:58.637Z,1621350298.637 [DAT](INFO): DAT read: 15:04:32.8092 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.12, 1.491, 1.240, 1.465, 1.419, PHS= 0.067,-0.135, 0.031, RAW= 140.3,   4.0, CAL= 140.8,   0.8, ROT=  69.2,  -0.8

2021-05-18T15:04:58.639Z,1621350298.639 [DAT](INFO): got valid direction response:
 15:04:32.8092 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.12, 1.491, 1.240, 1.465, 1.419, PHS= 0.067,-0.135, 0.031, RAW= 140.3,   4.0, CAL= 140.8,   0.8, ROT=  69.2,  -0.8

2021-05-18T15:04:58.639Z,1621350298.639 [DAT](INFO): #Rx 2: Read range and direction messages.
2021-05-18T15:04:58.640Z,1621350298.640 [DAT](INFO): direction in vehicle frame: [ 0.355072 forward, 0.934735 starboard, -0.013962 keelward ]
2021-05-18T15:04:58.640Z,1621350298.640 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:58.641Z,1621350298.641 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:58.644Z,1621350298.644 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.849201
2021-05-18T15:04:58.665Z,1621350298.665 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:58.666Z,1621350298.666 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.355072 forward, 0.934735 starboard, -0.013962 keelward ]
2021-05-18T15:04:58.666Z,1621350298.666 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:58.692Z,1621350298.692 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998837,-0.048125,-0.002972;0.048184,0.998531,0.024785;0.001775,-0.024899,0.999688 ]
2021-05-18T15:04:58.693Z,1621350298.693 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:04:58.693Z,1621350298.693 [lab_range_test:A.](INFO): direction in world frame: [ 0.399674 north, 0.916621 east, 0.008154 down ]
2021-05-18T15:04:58.694Z,1621350298.694 [lab_range_test:A.](INFO): relPosInFSK: [ 0.071014 forward, 0.186947 starboard, -0.002792 keelward ]
2021-05-18T15:04:58.703Z,1621350298.703 [lab_range_test:A.](INFO): relPosInNED: [ 0.079935 north, 0.183324 east, 0.001631 down ]
2021-05-18T15:04:58.704Z,1621350298.704 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:58.704Z,1621350298.704 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:04:59.026Z,1621350299.026 [DAT](INFO): DAT read: Rx Time:15:04:33.3091 

2021-05-18T15:04:59.028Z,1621350299.028 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:59.029Z,1621350299.029 [DAT](INFO): DAT read: Bearing  67.5,  -2.2 (Local)

2021-05-18T15:04:59.030Z,1621350299.030 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.5,  -2.2 (Local)

2021-05-18T15:04:59.032Z,1621350299.032 [DAT](INFO): DAT read: Range 7 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2021-05-18T15:04:59.033Z,1621350299.033 [DAT](INFO): unknown deviceResponse_: Range 7 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2021-05-18T15:04:59.034Z,1621350299.034 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=3.239724
2021-05-18T15:04:59.074Z,1621350299.074 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:59.422Z,1621350299.422 [DAT](INFO): DAT read: 15:04:33.3091 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510, 0.26, 0.044,-0.220, 0.023,-0.024, PHS= 0.064,-0.152, 0.032, RAW= 142.1,   5.6, CAL= 142.5,   2.2, ROT=  67.5,  -2.2

2021-05-18T15:04:59.423Z,1621350299.423 [DAT](INFO): got valid direction response:
 15:04:33.3091 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510, 0.26, 0.044,-0.220, 0.023,-0.024, PHS= 0.064,-0.152, 0.032, RAW= 142.1,   5.6, CAL= 142.5,   2.2, ROT=  67.5,  -2.2

2021-05-18T15:04:59.424Z,1621350299.424 [DAT](INFO): #Rx 3: Read direction message, but no range.
2021-05-18T15:04:59.425Z,1621350299.425 [DAT](INFO): direction in vehicle frame: [ 0.382401 forward, 0.923199 starboard, -0.038388 keelward ]
2021-05-18T15:04:59.428Z,1621350299.428 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.633330
2021-05-18T15:04:59.488Z,1621350299.488 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:59.814Z,1621350299.814 [DAT](INFO): DAT read: Rx Time:15:04:33.8092 

2021-05-18T15:04:59.815Z,1621350299.815 [DAT](INFO): received an acoustic signal
2021-05-18T15:04:59.816Z,1621350299.816 [DAT](INFO): DAT read: Bearing  67.5,  -2.9 (Local)

2021-05-18T15:04:59.816Z,1621350299.816 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.5,  -2.9 (Local)

2021-05-18T15:04:59.818Z,1621350299.818 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:04:59.823Z,1621350299.823 [DAT](INFO): DAT read: 15:04:33.8092 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.47, 0.964, 0.696, 0.943, 0.897, PHS= 0.063,-0.158, 0.030, RAW= 142.1,   6.3, CAL= 142.5,   2.9, ROT=  67.5,  -2.9

2021-05-18T15:04:59.824Z,1621350299.824 [DAT](INFO): got valid direction response:
 15:04:33.8092 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.47, 0.964, 0.696, 0.943, 0.897, PHS= 0.063,-0.158, 0.030, RAW= 142.1,   6.3, CAL= 142.5,   2.9, ROT=  67.5,  -2.9

2021-05-18T15:04:59.825Z,1621350299.825 [DAT](INFO): #Rx 4: Read range and direction messages.
2021-05-18T15:04:59.825Z,1621350299.825 [DAT](INFO): direction in vehicle frame: [ 0.382193 forward, 0.922696 starboard, -0.050593 keelward ]
2021-05-18T15:04:59.826Z,1621350299.826 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:04:59.826Z,1621350299.826 [DAT](INFO): publishing direction and range info
2021-05-18T15:04:59.833Z,1621350299.833 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.038475
2021-05-18T15:04:59.893Z,1621350299.893 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:04:59.894Z,1621350299.894 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.382193 forward, 0.922696 starboard, -0.050593 keelward ]
2021-05-18T15:04:59.894Z,1621350299.894 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:04:59.905Z,1621350299.905 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998838,-0.048109,-0.002786;0.048164,0.998531,0.024825;0.001588,-0.024930,0.999688 ]
2021-05-18T15:04:59.905Z,1621350299.905 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:04:59.906Z,1621350299.906 [lab_range_test:A.](INFO): direction in world frame: [ 0.426109 north, 0.904215 east, -0.028736 down ]
2021-05-18T15:04:59.915Z,1621350299.915 [lab_range_test:A.](INFO): relPosInFSK: [ 0.076439 forward, 0.184539 starboard, -0.010119 keelward ]
2021-05-18T15:04:59.916Z,1621350299.916 [lab_range_test:A.](INFO): relPosInNED: [ 0.085222 north, 0.180843 east, -0.005747 down ]
2021-05-18T15:04:59.916Z,1621350299.916 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:04:59.916Z,1621350299.916 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:05:00.233Z,1621350300.233 [DAT](INFO): DAT read: Rx Time:15:04:34.3092 

2021-05-18T15:05:00.233Z,1621350300.233 [DAT](INFO): received an acoustic signal
2021-05-18T15:05:00.235Z,1621350300.235 [DAT](INFO): DAT read: Bearing  66.1,  -5.1 (Local)

2021-05-18T15:05:00.235Z,1621350300.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.1,  -5.1 (Local)

2021-05-18T15:05:00.237Z,1621350300.237 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:05:00.246Z,1621350300.246 [DAT](INFO): DAT read: 15:04:34.3092 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.30,-1.943,-2.281,-1.968,-2.017, PHS= 0.070,-0.220, 0.034, RAW= 143.5,   8.5, CAL= 143.9,   5.1, ROT=  66.1,  -5.1

2021-05-18T15:05:00.259Z,1621350300.259 [DAT](INFO): got valid direction response:
 15:04:34.3092 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.30,-1.943,-2.281,-1.968,-2.017, PHS= 0.070,-0.220, 0.034, RAW= 143.5,   8.5, CAL= 143.9,   5.1, ROT=  66.1,  -5.1

2021-05-18T15:05:00.260Z,1621350300.260 [DAT](INFO): #Rx 5: Read range and direction messages.
2021-05-18T15:05:00.261Z,1621350300.261 [DAT](INFO): direction in vehicle frame: [ 0.403538 forward, 0.910634 starboard, -0.088894 keelward ]
2021-05-18T15:05:00.261Z,1621350300.261 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:05:00.261Z,1621350300.261 [DAT](INFO): publishing direction and range info
2021-05-18T15:05:00.323Z,1621350300.323 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:00.324Z,1621350300.324 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.403538 forward, 0.910634 starboard, -0.088894 keelward ]
2021-05-18T15:05:00.324Z,1621350300.324 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:05:00.326Z,1621350300.326 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998870,-0.047430,-0.002912;0.047487,0.998563,0.024853;0.001729,-0.024964,0.999687 ]
2021-05-18T15:05:00.343Z,1621350300.343 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m
2021-05-18T15:05:00.344Z,1621350300.344 [lab_range_test:A.](INFO): direction in world frame: [ 0.446172 north, 0.892405 east, -0.067409 down ]
2021-05-18T15:05:00.345Z,1621350300.345 [lab_range_test:A.](INFO): relPosInFSK: [ 0.080708 forward, 0.182127 starboard, -0.017779 keelward ]
2021-05-18T15:05:00.345Z,1621350300.345 [lab_range_test:A.](INFO): relPosInNED: [ 0.089234 north, 0.178481 east, -0.013482 down ]
2021-05-18T15:05:00.346Z,1621350300.346 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:05:00.346Z,1621350300.346 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:05:00.672Z,1621350300.672 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:01.093Z,1621350301.093 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:01.458Z,1621350301.458 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:01.844Z,1621350301.844 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:02.252Z,1621350302.252 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:02.657Z,1621350302.657 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:03.061Z,1621350303.061 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:03.489Z,1621350303.489 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:03.897Z,1621350303.897 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:04.281Z,1621350304.281 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:04.682Z,1621350304.682 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:05.077Z,1621350305.077 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:05.481Z,1621350305.481 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:05.482Z,1621350305.482 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying...
2021-05-18T15:05:05.482Z,1621350305.482 [lab_range_test:A.](INFO): *** querying DAT ***
2021-05-18T15:05:05.878Z,1621350305.878 [DAT](INFO): ****** received valid address query ******
2021-05-18T15:05:05.878Z,1621350305.878 [DAT](INFO): ****** received valid ping request ******
2021-05-18T15:05:05.878Z,1621350305.878 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode.
2021-05-18T15:05:05.880Z,1621350305.880 [DAT](INFO): ****** ping requested ******
2021-05-18T15:05:05.887Z,1621350305.887 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:06.300Z,1621350306.300 [DAT](INFO): DAT read: user:17>

2021-05-18T15:05:06.301Z,1621350306.301 [DAT](INFO): DAT read: Tx time:15:04:40.6296

2021-05-18T15:05:06.301Z,1621350306.301 [DAT](INFO): Ping request sent.
2021-05-18T15:05:06.301Z,1621350306.301 [DAT](INFO): transmitted an acoustic signal
2021-05-18T15:05:06.301Z,1621350306.301 [DAT](INFO): publishing transmit ping time
2021-05-18T15:05:06.302Z,1621350306.302 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000772
2021-05-18T15:05:06.314Z,1621350306.314 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:06.758Z,1621350306.758 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.456747
2021-05-18T15:05:06.765Z,1621350306.765 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:07.108Z,1621350307.108 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.806973
2021-05-18T15:05:07.138Z,1621350307.138 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:07.510Z,1621350307.510 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.208290
2021-05-18T15:05:07.517Z,1621350307.517 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:07.918Z,1621350307.918 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.616378
2021-05-18T15:05:07.925Z,1621350307.925 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:08.306Z,1621350308.306 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.004546
2021-05-18T15:05:08.313Z,1621350308.313 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:08.766Z,1621350308.766 [DAT](INFO): DAT read: Rx Time:15:04:42.7592 

2021-05-18T15:05:08.767Z,1621350308.767 [DAT](INFO): received an acoustic signal
2021-05-18T15:05:08.768Z,1621350308.768 [DAT](INFO): DAT read: Bearing  67.1,  -3.0 (Local)

2021-05-18T15:05:08.768Z,1621350308.768 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.1,  -3.0 (Local)

2021-05-18T15:05:08.770Z,1621350308.770 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:05:08.776Z,1621350308.776 [DAT](INFO): DAT read: 15:04:42.7592 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 480,-0.07, 2.910, 2.619, 2.887, 2.838, PHS= 0.068,-0.175, 0.034, RAW= 142.5,   6.4, CAL= 142.9,   3.0, ROT=  67.1,  -3.0

2021-05-18T15:05:08.777Z,1621350308.777 [DAT](INFO): got valid direction response:
 15:04:42.7592 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 480,-0.07, 2.910, 2.619, 2.887, 2.838, PHS= 0.068,-0.175, 0.034, RAW= 142.5,   6.4, CAL= 142.9,   3.0, ROT=  67.1,  -3.0

2021-05-18T15:05:08.777Z,1621350308.777 [DAT](INFO): #Rx 1: Read range and direction messages.
2021-05-18T15:05:08.778Z,1621350308.778 [DAT](INFO): direction in vehicle frame: [ 0.388591 forward, 0.919923 starboard, -0.052336 keelward ]
2021-05-18T15:05:08.779Z,1621350308.779 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:05:08.779Z,1621350308.779 [DAT](INFO): publishing direction and range info
2021-05-18T15:05:08.782Z,1621350308.782 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.480499
2021-05-18T15:05:08.840Z,1621350308.840 [lab_range_test:A.](DEBUG): Tracking...
2021-05-18T15:05:08.841Z,1621350308.841 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.388591 forward, 0.919923 starboard, -0.052336 keelward ]
2021-05-18T15:05:08.841Z,1621350308.841 [lab_range_test:A.](DEBUG): processing response from DAT
2021-05-18T15:05:08.848Z,1621350308.848 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998756,-0.049770,-0.002941;0.049828,0.998454,0.024618;0.001712,-0.024734,0.999693 ]
2021-05-18T15:05:08.848Z,1621350308.848 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m
2021-05-18T15:05:08.849Z,1621350308.849 [lab_range_test:A.](INFO): direction in world frame: [ 0.433856 north, 0.900455 east, -0.030816 down ]
2021-05-18T15:05:08.850Z,1621350308.850 [lab_range_test:A.](INFO): relPosInFSK: [ 0.116577 forward, 0.275977 starboard, -0.015701 keelward ]
2021-05-18T15:05:08.850Z,1621350308.850 [lab_range_test:A.](INFO): relPosInNED: [ 0.130157 north, 0.270137 east, -0.009245 down ]
2021-05-18T15:05:08.859Z,1621350308.859 [lab_range_test:A.](DEBUG): Combining 5 samples.
2021-05-18T15:05:08.859Z,1621350308.859 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2021-05-18T15:05:09.118Z,1621350309.118 [DAT](INFO): DAT read: Rx Time:15:04:43.2591 

2021-05-18T15:05:09.118Z,1621350309.118 [DAT](INFO): received an acoustic signal
2021-05-18T15:05:09.120Z,1621350309.120 [DAT](INFO): DAT read: Bearing  69.3,  -0.7 (Local)

2021-05-18T15:05:09.120Z,1621350309.120 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.3,  -0.7 (Local)

2021-05-18T15:05:09.122Z,1621350309.122 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:05:09.143Z,1621350309.143 [DAT](INFO): DAT read: 15:04:43.2591 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.06, 2.908, 2.651, 2.881, 2.834, PHS= 0.070,-0.139, 0.032, RAW= 140.2,   3.9, CAL= 140.7,   0.7, ROT=  69.3,  -0.7

2021-05-18T15:05:09.144Z,1621350309.144 [DAT](INFO): got valid direction response:
 15:04:43.2591 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.06, 2.908, 2.651, 2.881, 2.834, PHS= 0.070,-0.139, 0.032, RAW= 140.2,   3.9, CAL= 140.7,   0.7, ROT=  69.3,  -0.7

2021-05-18T15:05:09.145Z,1621350309.145 [DAT](INFO): #Rx 2: Read range and direction messages.
2021-05-18T15:05:09.146Z,1621350309.146 [DAT](INFO): direction in vehicle frame: [ 0.353448 forward, 0.935374 starboard, -0.012217 keelward ]
2021-05-18T15:05:09.146Z,1621350309.146 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:05:09.146Z,1621350309.146 [DAT](INFO): publishing direction and range info
2021-05-18T15:05:09.160Z,1621350309.160 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.858254
2021-05-18T15:05:09.186Z,1621350309.186 [lab_range_test](INFO): Timed out from 2021-05-18T15:03:09.1Z
2021-05-18T15:05:09.187Z,1621350309.187 [MissionManager](INFO): lab_range_test is completed.
2021-05-18T15:05:09.187Z,1621350309.187 [MissionManager](INFO): Uninitializing Mission lab_range_test
2021-05-18T15:05:09.187Z,1621350309.187 [lab_range_test] Stopped
2021-05-18T15:05:09.187Z,1621350309.187 [lab_range_test](DEBUG): Aggregate::uninitialize lab_range_test
2021-05-18T15:05:09.187Z,1621350309.187 [lab_range_test:A.] Stopped
2021-05-18T15:05:09.187Z,1621350309.187 [lab_range_test:A.](DEBUG): Uninitializing Tracking.
2021-05-18T15:05:09.187Z,1621350309.187 [lab_range_test:B.Wait] Stopped
2021-05-18T15:05:09.187Z,1621350309.187 [lab_range_test:B.Wait](DEBUG): Uninitialize Wait Component.
2021-05-18T15:05:09.554Z,1621350309.554 [DAT](INFO): DAT read: Rx Time:15:04:43.7591 

2021-05-18T15:05:09.555Z,1621350309.555 [DAT](INFO): received an acoustic signal
2021-05-18T15:05:09.559Z,1621350309.559 [DAT](INFO): DAT read: Bearing  70.6,   1.1 (Local)

2021-05-18T15:05:09.559Z,1621350309.559 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.6,   1.1 (Local)

2021-05-18T15:05:09.561Z,1621350309.561 [DAT](INFO): DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2021-05-18T15:05:09.566Z,1621350309.566 [DAT](INFO): DAT read: 15:04:43.7591 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.19,-2.898, 3.139,-2.928,-2.976, PHS= 0.074,-0.124, 0.033, RAW= 138.7,   2.0, CAL= 139.4,  -1.1, ROT=  70.6,   1.1

2021-05-18T15:05:09.567Z,1621350309.567 [DAT](INFO): got valid direction response:
 15:04:43.7591 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.19,-2.898, 3.139,-2.928,-2.976, PHS= 0.074,-0.124, 0.033, RAW= 138.7,   2.0, CAL= 139.4,  -1.1, ROT=  70.6,   1.1

2021-05-18T15:05:09.568Z,1621350309.568 [DAT](INFO): #Rx 3: Read range and direction messages.
2021-05-18T15:05:09.569Z,1621350309.569 [DAT](INFO): direction in vehicle frame: [ 0.332100 forward, 0.943049 starboard, 0.019197 keelward ]
2021-05-18T15:05:09.569Z,1621350309.569 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:05:09.569Z,1621350309.569 [DAT](INFO): publishing direction and range info
2021-05-18T15:05:09.572Z,1621350309.572 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.271182
2021-05-18T15:05:09.580Z,1621350309.580 [MissionManager](IMPORTANT): Started mission Default
2021-05-18T15:05:09.581Z,1621350309.581 [Default] Running Loop=1
2021-05-18T15:05:09.581Z,1621350309.581 [Default](DEBUG): Aggregate::initialize Default
2021-05-18T15:05:09.581Z,1621350309.581 [Default:B.GoToSurface] Running Loop=1
2021-05-18T15:05:09.581Z,1621350309.581 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-05-18T15:05:09.581Z,1621350309.581 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-05-18T15:05:09.581Z,1621350309.581 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-05-18T15:05:09.582Z,1621350309.582 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-05-18T15:05:09.582Z,1621350309.582 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-05-18T15:05:09.582Z,1621350309.582 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-05-18T15:05:09.583Z,1621350309.583 [Default:A.Wait] Running Loop=1
2021-05-18T15:05:09.583Z,1621350309.583 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-05-18T15:05:09.948Z,1621350309.948 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.647096
2021-05-18T15:05:10.341Z,1621350310.341 [DAT](INFO): DAT read: Rx Time:15:04:44.2590 

2021-05-18T15:05:10.341Z,1621350310.341 [DAT](INFO): received an acoustic signal
2021-05-18T15:05:10.342Z,1621350310.342 [DAT](INFO): DAT read: Bearing  68.2,  -2.5 (Local)

2021-05-18T15:05:10.343Z,1621350310.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.2,  -2.5 (Local)

2021-05-18T15:05:10.345Z,1621350310.345 [DAT](INFO): DAT read: Range 7 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2021-05-18T15:05:10.345Z,1621350310.345 [DAT](INFO): unknown deviceResponse_: Range 7 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2021-05-18T15:05:10.350Z,1621350310.350 [DAT](INFO): DAT read: 15:04:44.2590 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510, 0.38, 1.291, 1.016, 1.265, 1.219, PHS= 0.068,-0.159, 0.031, RAW= 141.3,   5.8, CAL= 141.8,   2.5, ROT=  68.2,  -2.5

2021-05-18T15:05:10.351Z,1621350310.351 [DAT](INFO): got valid direction response:
 15:04:44.2590 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510, 0.38, 1.291, 1.016, 1.265, 1.219, PHS= 0.068,-0.159, 0.031, RAW= 141.3,   5.8, CAL= 141.8,   2.5, ROT=  68.2,  -2.5

2021-05-18T15:05:10.352Z,1621350310.352 [DAT](INFO): #Rx 4: Read direction message, but no range.
2021-05-18T15:05:10.353Z,1621350310.353 [DAT](INFO): direction in vehicle frame: [ 0.371014 forward, 0.927602 starboard, -0.043619 keelward ]
2021-05-18T15:05:10.353Z,1621350310.353 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:05:10.356Z,1621350310.356 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.054640
2021-05-18T15:05:10.726Z,1621350310.726 [DAT](INFO): DAT read: Rx Time:15:04:44.7592 

2021-05-18T15:05:10.727Z,1621350310.727 [DAT](INFO): received an acoustic signal
2021-05-18T15:05:10.728Z,1621350310.728 [DAT](INFO): DAT read: Bearing  83.2,   0.0 (Local)

2021-05-18T15:05:10.728Z,1621350310.728 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.2,   0.0 (Local)

2021-05-18T15:05:10.730Z,1621350310.730 [DAT](INFO): DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2021-05-18T15:05:10.752Z,1621350310.752 [DAT](INFO): DAT read: 15:04:44.7592 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.73, 2.750, 1.374, 2.184, 2.147, PHS= 0.599,-0.729, 0.022, RAW= 124.3,   1.9, CAL= 126.8,  -0.0, ROT=  83.2,   0.0

2021-05-18T15:05:10.753Z,1621350310.753 [DAT](INFO): got valid direction response:
 15:04:44.7592 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.73, 2.750, 1.374, 2.184, 2.147, PHS= 0.599,-0.729, 0.022, RAW= 124.3,   1.9, CAL= 126.8,  -0.0, ROT=  83.2,   0.0

2021-05-18T15:05:10.754Z,1621350310.754 [DAT](INFO): #Rx 5: Read range and direction messages.
2021-05-18T15:05:10.755Z,1621350310.755 [DAT](INFO): direction in vehicle frame: [ 0.118404 forward, 0.992965 starboard, 0.000000 keelward ]
2021-05-18T15:05:10.755Z,1621350310.755 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2021-05-18T15:05:10.755Z,1621350310.755 [DAT](INFO): publishing direction and range info
2021-05-18T15:05:22.880Z,1621350322.880 [Default:A.Wait](INFO): Done Waiting.
2021-05-18T15:05:22.880Z,1621350322.880 [Default:A.Wait] Stopped
2021-05-18T15:05:22.880Z,1621350322.880 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-05-18T15:05:23.293Z,1621350323.293 [Default:CheckIn] Running Loop=1
2021-05-18T15:05:23.293Z,1621350323.293 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-05-18T15:05:23.293Z,1621350323.293 [Default:CheckIn:Read_GPS] Running Loop=1
2021-05-18T15:05:26.482Z,1621350326.482 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-05-18T15:05:26.485Z,1621350326.485 [BPC1](INFO): Received data from all battery sticks.
2021-05-18T15:05:31.356Z,1621350331.356 [CBIT](INFO): Clearing failed state for component AMEcho
2021-05-18T15:05:31.356Z,1621350331.356 [AMEcho] No Fault, FailCount= 3
2021-05-18T15:05:31.747Z,1621350331.747 [AMEcho](INFO): Powering up.
2021-05-18T15:06:37.588Z,1621350397.588 [AMEcho](INFO): Failure count cleared after critical for AMEcho
2021-05-18T15:06:49.352Z,1621350409.352 [CommandLine](IMPORTANT): got command failComponent
2021-05-18T15:06:49.352Z,1621350409.352 [CommandLine](IMPORTANT): Failed components:
2021-05-18T15:06:49.352Z,1621350409.352 [CommandLine](IMPORTANT): No failed Components.
2021-05-18T15:06:59.020Z,1621350419.020 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2021-05-18T15:06:59.020Z,1621350419.020 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-05-18T15:06:59.038Z,1621350419.038 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-05-18T15:06:59.449Z,1621350419.449 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-05-18T15:06:59.449Z,1621350419.449 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3